L5441T06 Operator Manual (K-Pos DP-11)

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K-Pos DP-11
Operator Manual
CSBC H1088
KM Project No. 6763425
PRELIMINARY
Copy number:_____ 5184447/A

Unregistered copies will not be updated. 2018-03 © Kongsberg Maritime AS
Document history
Document number: 5184447

Document revision: A
DMS version: N/A
Rev. A 2018-03 Preliminary As-Built
The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with a good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com
Kongsberg Maritime AS
www.kongsberg.com
PRELIMINARY
Table of contents
The Operator Manual for the Kongsberg K-Pos DP-11 system installed on CSBC H1088
consists of the documents listed below. This manual is valid for K-Pos DP-11 software
release 8.3.3.
K-Pos DP Operator Manual Release 8.3 407271/D

K-Pos Auto Track Operator Manual Release 8.3 407281/B
K-Pos DP Capability and Motion Prediction Analysis Operator Manual Release 8.3 407295/A
K-Pos Follow Target Operator Manual Release 8.3 407282/C
5184447/A 3
©2018 Kongsberg Maritime
K-Pos DP
Dynamic Positioning System
Operator Manual
Release 8.3
407271/D
September 2017 © Kongsberg Maritime AS
Document history
Document number: 407271 / Revision D

Rev. A July 2016 This version describes the operation of the K-Pos DP at basis software
release 8.3.0.
Rev. B September 2016 This version describes the operation of the K-Pos DP at basis software
release 8.3.1.
New view control dialog box for Reference system main view.
Rev. C May 2017 This version describes the operation of the K-Pos DP at basis software
release 8.3.2.
Rev. D September 2017 This version describes the operation of the K-Pos DP at basis software
release 8.3.2. Additional information about the STOP button.
The reader
This Operator Manual is intended as a reference manual. The manual is based on the assumption that the
operator is experienced and has good understanding of basic principles of the system. If this is not the
case, then the operator should first attend the appropriate Kongsberg Maritime training courses.
Note
Warning
You must be familiar with the contents of the appropriate manuals before attempting to operate
Comments
e-mail: km.documentation@km.kongsberg.com
For technical support issues, please contact km.support@km.kongsberg.com.
www.kongsberg.com
Operator Manual
Table of contents
SYSTEM OVERVIEW ............................................................... 11

K-Pos DP .........................................................................................................................12
Forces and motions ..........................................................................................................13
System principles .............................................................................................................14
The Extended Kalman Filter ..................................................................................14
The controller .........................................................................................................16
Thrust allocation.....................................................................................................19
Redundant systems ..........................................................................................................20
Dual-redundant system...........................................................................................20
Triple-redundant system .........................................................................................21
GETTING TO KNOW YOUR OPERATOR STATION..................... 23
Operator station................................................................................................................24
Operator panel..................................................................................................................25
Buttons....................................................................................................................26
Joystick ...................................................................................................................27
Trackball.................................................................................................................27
Heading wheel ........................................................................................................28
Display layout ..................................................................................................................29
Top bar....................................................................................................................32
Dashboard layout....................................................................................................35
Side bar...................................................................................................................36
Working areas.........................................................................................................36
About dialog boxes ..........................................................................................................37
Selecting dialog boxes............................................................................................37
Entering values .......................................................................................................38
About display views.........................................................................................................39
Orientation of the operator station and effect on display views.............................39
Tooltip/hotspot cursor.............................................................................................39
Zooming and panning function ..............................................................................40
Selecting display views and panes .........................................................................41
View-control dialog boxes......................................................................................42
PREPARING FOR OPERATION ................................................ 43
Starting the system...........................................................................................................45
Taking command..............................................................................................................45
Enabling thrusters ............................................................................................................46
Enabling a gyrocompass ..................................................................................................46
Enabling a wind sensor ....................................................................................................47
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K-Pos DP
Enabling a vertical reference sensor ................................................................................48

Enabling the first position-reference system....................................................................49
Enabling other position reference systems ......................................................................50
Changing the reference origin ................................................................................51
Enabling a speed sensor ...................................................................................................51
Enabling and entering a manual speed value .........................................................52
Selecting the vessel draught.............................................................................................53
Enabling a rate-of-turn sensor..........................................................................................53
CONTROLLING THE VESSEL ................................................... 54
Controlling the vessel manually ......................................................................................56
Controlling the vessel heading automatically ..................................................................56
Controlling surge and sway automatically.......................................................................57
Stabilising the vessel........................................................................................................58
Controlling position and heading automatically ..............................................................59
Changing the vessel heading............................................................................................60
Changing the vessel heading using the heading wheel ..........................................60
Changing the vessel heading using the Posplot view.............................................62
Changing the vessel heading using the Change heading button ............................63
Stopping a change of heading ..........................................................................................63
Stopping by using the Stop button .........................................................................63
Stopping by using the Present Heading button ......................................................64
Changing the vessel position ...........................................................................................64
Changing the vessel position using the Posplot view.............................................64
Changing the vessel position using the Change position button ............................65
Stopping a change of position..........................................................................................66
Stopping by using the Stop button .........................................................................67
Stopping by using the Present Position button.......................................................67
Monitoring the gangway ..................................................................................................68
SETTING SYSTEM PARAMETERS............................................. 69
Selecting the joystick thrust .............................................................................................71
Selecting joystick precision .............................................................................................71
Enabling wind compensation...........................................................................................71
Selecting the vessel rotation centre..................................................................................72
Changing the rate of turn .................................................................................................74
Setting heading limits ......................................................................................................75
Setting position limits ......................................................................................................76
Selecting the controller gain level....................................................................................76
Selecting minimum power heading .................................................................................77
Selecting the thrust allocation mode ................................................................................77
Setting date and time........................................................................................................78
4 407271/D
Operator Manual
CUSTOMIZING PREFERENCES ................................................ 79

Selecting display palette ..................................................................................................80
Adjusting the panel light..................................................................................................80
Selecting presentation units .............................................................................................81
Preselecting sets of views ................................................................................................82
Printing system information.............................................................................................83
TRANSFERRING COMMAND ................................................... 84
Command control ............................................................................................................85
Taking command..............................................................................................................85
Giving command..............................................................................................................86
Requesting command.......................................................................................................87
SYSTEM SERVICE PROCEDURES............................................. 88
Testing the panel ..............................................................................................................89
Stopping and restarting the operator station ....................................................................89
Resetting controller process stations................................................................................90
Getting remote support ....................................................................................................92
Calibrating the joystick ....................................................................................................94
System architecture..........................................................................................................95
Operator stations.....................................................................................................95
Process stations.......................................................................................................96
IO system................................................................................................................97
System monitoring ...........................................................................................................98
MESSAGE SYSTEM ................................................................. 99
System diagnostics.........................................................................................................100
Operational checks.........................................................................................................100
Types of messages..........................................................................................................101
Presentation of messages ...............................................................................................102
Alarm states ...................................................................................................................103
Acknowledging messages..............................................................................................104
Acknowledging all messages in the Event List view ...........................................104
Acknowledging a selection of messages in the Event List view..........................105
Silencing the audible signal..................................................................................105
Alarm lamps...................................................................................................................105
Messages on the printer .................................................................................................106
Message explanations - online help ...............................................................................107
Operator pop-up messages.............................................................................................108
Critical system messages ...............................................................................................109
SENSOR ERROR SITUATIONS .............................................. 111
Gyro error....................................................................................................................... 112
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Rejected heading measurements .......................................................................... 112

Faulty gyrocompass.............................................................................................. 112
Heading dropout ................................................................................................... 113
Wind sensor error........................................................................................................... 113
Rejected wind measurements ............................................................................... 113
Faulty wind sensor................................................................................................ 114
VRS error ....................................................................................................................... 115
Position-reference system error ..................................................................................... 116
Position dropout ................................................................................................... 116
POSITION INFORMATION.................................................... 117
Handling position information....................................................................................... 118
Coordinate systems ........................................................................................................ 119
System datum................................................................................................................. 119
Reference origin............................................................................................................. 119
Tests on position measurements.....................................................................................120
Freeze test.............................................................................................................121
Variance test .........................................................................................................121
Prediction test .......................................................................................................122
Divergence test .....................................................................................................122
Median test ...........................................................................................................123
DP ONLINE CONSEQUENCE ANALYSIS ................................. 126
DP consequence analysis ...............................................................................................127
Status information..........................................................................................................128
Alarm messages .............................................................................................................128
POWER SYSTEM................................................................... 130
Power monitoring ..........................................................................................................131
Power load monitoring and blackout prevention ...........................................................131
BUILT-IN TRAINER.............................................................. 134
Trainer functions ............................................................................................................135
Using the trainer.............................................................................................................135
Leaving the trainer .........................................................................................................136
DIALOG BOXES .................................................................... 138
About dialog box ...........................................................................................................141
Acceleration/deceleration settings dialog box ...............................................................143
Alarm limits dialog box .................................................................................................145
Position page ........................................................................................................146
VRS page..............................................................................................................148
Allocation settings dialog box .......................................................................................149
Rudder/nozzle control ..........................................................................................150
6 407271/D
Operator Manual
Alongship force control dialog box ...............................................................................152

Change User dialog box.................................................................................................156
Clutch settings dialog box..............................................................................................157
Command Control dialog box........................................................................................159
DP-OS page ..........................................................................................................162
Overview page......................................................................................................163
Give page..............................................................................................................164
Command groups .................................................................................................164
Connect dialog box ........................................................................................................166
Date and Time dialog box..............................................................................................167
Datum details dialog box ...............................................................................................168
DP class dialog box........................................................................................................169
EBL dialog box ..............................................................................................................170
Equipment dialog box ....................................................................................................171
PS page .................................................................................................................172
PS Redundancy page ............................................................................................174
OS/HS page ..........................................................................................................176
Event Printer page ................................................................................................178
Net Status page .....................................................................................................179
Event Printer dialog box ................................................................................................181
Export Log Files dialog box ..........................................................................................182
FW Manager dialog box ................................................................................................183
Gain dialog box..............................................................................................................184
Gain level for High Precision and Relaxed control mode....................................186
Gyro deviation dialog box .............................................................................................188
Heading dialog box ........................................................................................................190
Heading page ........................................................................................................191
Rate of turn page ..................................................................................................193
Heading (Setpoint) dialog box .......................................................................................194
Heading Setp. dialog box...............................................................................................195
IO Manager dialog box ..................................................................................................196
IO Configurator page............................................................................................197
IO Point Browser dialog box .........................................................................................199
IO Terminal Block dialog box .......................................................................................202
Signal conditioning elements ...............................................................................206
Joystick Calibrate dialog box.........................................................................................208
Joystick settings dialog box ...........................................................................................209
Local N/E properties dialog box ....................................................................................212
Numeric entry keypad dialog use dialog box ................................................................214
Panel Lamp Test dialog box...........................................................................................216
407271/D 7
K-Pos DP
Panel Light Configuration dialog box............................................................................217

Position dialog box ........................................................................................................218
Inc page ................................................................................................................219
R/B page ...............................................................................................................221
Abs page ...............................................................................................................223
Speed page............................................................................................................225
Position inc dialog box ..................................................................................................226
Position R/B dialog box .................................................................................................227
Position presentation dialog box....................................................................................228
Position (Setpoint) dialog box .......................................................................................231
Power optimal allocation dialog box .............................................................................232
Preselect dialog box .......................................................................................................234
Presentation units dialog box .........................................................................................236
Print status dialog box....................................................................................................238
Quick model dialog box.................................................................................................239
RBUS IO Image dialog box...........................................................................................241
Redundant Stations dialog box ......................................................................................245
Error objects .........................................................................................................248
Reference system dialog box .........................................................................................250
Enable page ..........................................................................................................251
Weight page ..........................................................................................................252
Validation page .....................................................................................................254
Reference system origin dialog box...............................................................................256
Reference system properties dialog box ........................................................................258
Reference system settings dialog box ............................................................................261
Reset controller PS dialog box.......................................................................................264
Rotation center dialog box .............................................................................................265
Sensors dialog box .........................................................................................................268
Draught page ........................................................................................................269
Gyro page .............................................................................................................271
Rate of turn page ..................................................................................................273
Speed page............................................................................................................275
VRS page..............................................................................................................278
Wind page.............................................................................................................280
Set System Date/Time dialog box..................................................................................283
Speed setpoint dialog box ..............................................................................................284
Station Explorer dialog box ...........................................................................................285
Stop/restart dialog box ...................................................................................................288
Thrust allocation dialog box ..........................................................................................289
Thruster Biasing dialog box...........................................................................................293
8 407271/D
Operator Manual
Manual thruster biasing ........................................................................................294

Automatic thruster biasing ...................................................................................296
Thruster biasing function......................................................................................298
Thruster biasing - bias type ..................................................................................299
Thruster biasing - turn factor................................................................................302
Thruster biasing - angle factor..............................................................................303
Thruster biasing - inwards factor..........................................................................304
Thruster combinator control settings dialog box ...........................................................305
Thruster enable dialog box.............................................................................................307
Thruster run-in dialog box .............................................................................................309
Trainer settings dialog box............................................................................................. 311
UTM properties dialog box............................................................................................312
Universal Transverse Mercator (UTM)................................................................313
DISPLAY VIEWS .................................................................. 315
Diesel view.....................................................................................................................316
Event List view ..............................................................................................................319
Gangway view ...............................................................................................................322
Joystick view..................................................................................................................324
LTW view ......................................................................................................................328
Light Taut Wire Plot view control........................................................................331
Numeric view.................................................................................................................333
Posplot view...................................................................................................................336
Posplot view control .............................................................................................342
Power view.....................................................................................................................348
Power plot view control .......................................................................................352
Power consumption view...............................................................................................354
Reference system main view .........................................................................................356
Refsys view control ..............................................................................................360
Rotation center view ......................................................................................................364
Sensors view ..................................................................................................................365
Thruster forces view ......................................................................................................368
Thruster main view ........................................................................................................371
Thruster view - azimuth thruster ..........................................................................376
Thruster view - propeller/rudder ..........................................................................378
Thruster view - tunnel thruster .............................................................................380
Thruster Sub Plot view control.............................................................................382
Thruster setpoint feedback view ....................................................................................384
Trends view....................................................................................................................386
Trend Plot view control ........................................................................................388
DISPLAY PANES .................................................................. 389
407271/D 9
K-Pos DP
Depth pane .....................................................................................................................391

Diesel trend pane............................................................................................................391
Gangway Local pane......................................................................................................392
Gangway Remote pane ..................................................................................................392
Gangway Status pane.....................................................................................................393
Heading pane .................................................................................................................394
Heave pane.....................................................................................................................396
Joystick pane..................................................................................................................397
Pitch and roll pane .........................................................................................................398
Pitch roll and heave pane ...............................................................................................399
Position deviation pane ..................................................................................................399
Power consumption pane ...............................................................................................400
Power trend pane............................................................................................................401
Reference systems pane .................................................................................................402
Residual trend pane........................................................................................................402
Rotation center position pane.........................................................................................403
Speed sensors pane ........................................................................................................404
Status pane .....................................................................................................................404
Thruster force bar pane ..................................................................................................405
Thruster force vector pane .............................................................................................406
Thruster resultant pane...................................................................................................407
Trends pane ....................................................................................................................407
Vessel speed pane...........................................................................................................408
Wind pane ......................................................................................................................409
Wind sensors pane .........................................................................................................410
Wind trend pane .............................................................................................................410
10 407271/D
System overview
System overview
Topics
K-Pos DP, page 12
K-Pos DP is a computerised system for automatic position and heading control of a vessel.
Forces and motions, page 13
A seagoing vessel is subjected to forces from wind, waves and current, as well as from forces and
moments generated by the vessel's propulsion system.
System principles, page 14
The system is designed to keep the vessel within specified position and heading limits, and to
minimise fuel consumption and wear and tear on the propulsion equipment. In addition, the
system tolerates transient errors in the measurement systems and acts appropriately if a fault
occurs in the thruster units.
Redundant systems, page 20
Redundancy increases the availability and reliability of K-Pos DP and ensures that positioning
can still be performed should a single fault occur in either K-Pos DP or the connected sensors and
position-reference systems.
407271/D 11
K-Pos DP Operator Manual
K-Pos DP
K-Pos DP is a computerised system for automatic position and heading control of
a vessel.
To control the vessel's heading, K-Pos DP uses data from one or more gyrocompasses,
while at least one position-reference system (for example, DGPS or hydroacoustics)
enables K-Pos DP to position the vessel.
Setpoints for heading and position are specified by the operator and are then processed
by K-Pos DP to provide thrust control signals to the vessel's thruster and main propeller
systems. K-Pos DP always allocates optimum thrust to whichever propulsion units
are in use.
Deviations from the desired heading or position are automatically detected and
appropriate adjustments are made by the system.
K-Pos DP also provides a manual joystick control which may be used for manual control
alone or for combined manual/auto control.
Without a position-reference system, K-Pos DP can provide automatic stabilization and
control of the vessel heading using the gyrocompass as the heading reference.
The system includes control strategies that will reduce fuel consumption and greenhouse
gases.
12 407271/D
System overview
Forces and motions

A seagoing vessel is subjected to forces from wind, waves and current, as well as from
forces and moments generated by the vessel's propulsion system.
The term “forces” includes both forces and yawing moments, unless otherwise stated.
The vessel's responses to these forces, i.e. its changes in position, heading and speed, are
measured by gyrocompasses, vertical reference sensors and position-reference systems.
Position-reference system readings are corrected for pitch and roll using readings from
the vertical reference sensor. Wind speed and direction are measured by the wind sensors.
The system calculates the forces that the thrusters must produce in order to control the
vessel's motion in the three degrees of freedom - surge, sway and yaw - in the horizontal
plane.
The vessel also moves in three vertical degrees of freedom: pitch, roll and heave.
The pitch and roll motions are not controlled by K-Pos DP. However, in order to allow
the position-reference system to correct for these motions, the control system must have
information about them. This information is received from vertical reference sensor.
K-Pos DP does not control or require information about the heave motion, but the
motion can be measured and shown.
407271/D 13
System principles
The system is designed to keep the vessel within specified position and heading limits,
and to minimise fuel consumption and wear and tear on the propulsion equipment. In
addition, the system tolerates transient errors in the measurement systems and acts
appropriately if a fault occurs in the thruster units.
The Extended Kalman Filter

The Extended Kalman Filter estimates the vessel's heading, position and velocity in each
of the three degrees of freedom - surge, sway and yaw. It also incorporates algorithms
for estimating the effect of sea current and waves.
The Extended Kalman Filter uses a vessel model which includes hydrodynamic
characteristics such as drag coefficients and virtual mass data. This model, called the
Mathematical Vessel Model, describes how the vessel responds to an applied force,
for example wind and thrusters. The mathematical model itself is never a 100 percent
accurate representation of the real vessel. However, by using the Extended Kalman
Filtering technique, the model can be continuously corrected.
The vessel's heading and position are measured using the gyrocompasses and
position-reference systems, and are used as input data to the control system. These
14 407271/D
System overview
measurements are compared with the predicted or estimated data produced by the
mathematical model, and the differences are then used to update the model.
The Extended Kalman Filter gives the following advantages:

• Optimal self-adaptive noise filtering of heading and position measurements according
to noise level and measurement-update rate.
• Optimal combination of data from the different position-reference systems. The
system calculates a variance for each position-reference system in use, and places
different weighting on their measurements according to each system's individual
quality.
• In the absence of position measurements, the model provides a “dead-reckoning”
mode. This means that the system is able to perform positioning for a limited period
of time without position updates from any position-reference system.
In the Extended Kalman Filter, the Mathematical Vessel Model's reliability and the noise
level of the position measurement are the basis for deciding how much to trust each
measurement. As time passes, the model reliability will increase through continuous
updates from the measured vessel response.
The process is adaptive. If, for example, the position-reference system is active and
it has a low update rate, the model reliability will decrease in the periods between
measurements. The vessel model will therefore be heavily updated with each
measurement.
407271/D 15
Offshore trials have verified that K-Pos DP principles give:

• Improved suppression of noise in position measurement with a better station-keeping
performance.
• Reduced power consumption and wear and tear on the thrusters due to the improved
suppression.
• A robust handling of combined high and low update rate position sensors, such as
DGPS and traditional Long Base-Line hydroacoustic positioning.
An extended Kalman Filter is also used for the heading information based on
measurement from the gyrocompass in use.
Additional advantages can be obtained by use of:
• Speed measurements
Speed measurements can be used as an addition to position measurements to improve
the vessel speed control, and to make calibration of position measurements faster
when sailing at high speed.
A combination of speed measurement and a position-reference system will be better
able to handle dropout of position measurements during sailing.
The speed measurement interface can be DGPS or Doppler Log.
• ROT measurements
ROT (rate of turn) measurements from ROT sensors can be used to improve the
heading control of the vessel. This is useful when very accurate heading control is
required during high-speed sailing, or when the vessel has a hull shape that makes it
difficult to control the heading.
The controller
The controller calculates the resulting force to be exerted by the thrusters/propellers in
order for the vessel to remain on station.
DP control strategy
In station-keeping operations, the controller can be working in one of the following
modes, all with special characteristics:
• High Precision
• Relaxed
• Green
High Precision control mode provides high accuracy station-keeping in any weather
condition at the expense of power consumption and exposure to wear and tear of
machinery and thrusters.
16 407271/D
System overview
Relaxed control mode uses the thrusters more smoothly, at the expense of station-keeping
accuracy. However, this type of control cannot guarantee that the vessel will stay within
its operational area, and is mainly applicable for calm weather conditions.
Green control mode uses a different control technology called non-linear Model
Predictive Control, which is optimized for precise area keeping with minimum power
consumption. Green control is applicable in all weather conditions.
The transition between control modes is bumpless.
High Precision and Relaxed control mode

• Excursion Feedback
The deviation between the operator-specified position/heading setpoints and the actual
position/heading data, and similar deviations related to the vessel's velocity/heading
rate, drive the excursion feedback. The differences are multiplied by gain factors
giving a force demand (restoring demand and damping demand) required to bring the
vessel back to its setpoint values while also slowing down its movements.
The main difference between High Precision control mode and Relaxed control mode
is the restoring characteristics of the two controller types:
(CD3320)
• Wind Feed-Forward
In order to counteract the wind forces as quickly as possible, the feed-forward
concept is used. This means that K-Pos DP will not allow the vessel to drift away
from the required position as it counteracts the wind-induced forces as soon as they
are detected.
• Current Feedback
The excursion feedback and wind feed-forward are not sufficient to bring the vessel
back to the desired setpoints due to unmeasured external forces (such as waves
and current). The system estimates these forces over time, and calculates the force
demand required to counteract them.
Green control mode

In the Green control mode, the system maintains the vessel within an allowed area with
minimum use of power.
407271/D 17
The controller design consists of two main parts, each giving its contribution to the
control:
• The Environment Compensator is designed to compensate for the average
environmental forces, which will maintain the required position under averaged
conditions.
• The Model Predictive Controller (MPC) uses a prediction (Position Predictor) of
the vessel movement as input for the control. When the operational boundaries are
predicted to be exceeded, the controller reacts to ensure that the vessel stays within
the operational area.
The very smooth control actions reduce wear and tear on mechanical parts of the power
and thruster system and reduce fuel consumption and greenhouse gases.
The non-linear Model Predictive Controller (MPC) is an online optimization function,
finding the best compromise between using thrust and predicted overstepping of
operational boundaries.
Due to its nature, the MPC will not instantaneously react to sudden changes in external
forces, such as wind gusts, unless the Position Predictor detects that actions must be
taken immediately. Unnecessary sudden use of thrust is therefore avoided.
The Position Predictor includes the mathematical model of the vessel used in the
extended Kalman filter of the DP. The predicted position and heading are found
step-by-step for the whole prediction horizon (1 to 2 minutes).
18 407271/D
System overview
Thrust allocation
The force demand in the surge and sway axes (the force setpoint), and in the yaw axis
(the turning moment setpoint), is distributed to the various thrusters and propellers by
the Thrust allocation function.
The controller continuously calculates the actual force requirements in the alongships
and athwartships directions (the force demand), and the required rotational moment
(the turning moment demand).
The Thrust allocation distributes these demands as pitch/rpm/force/load and azimuth
control signals to each thruster/propeller, thus obtaining the force and moment required
for the position and heading control.
If it is not possible to maintain both the turning moment and the force demand due
to insufficient available thrust, priority is normally set to obtain the turning moment
demand (heading).
If a thruster/propeller is out of service or deselected, the “lost” thrust is automatically
redistributed to the remaining thrusters/propellers.
407271/D 19
The magnitude of thrust allocated is reduced if the available power is too low to meet
the thrust demand. The allocated thrust will however still be correct with respect to the
direction of thrust. Heading (or position) priority is also kept in such a situation.
Power optimal allocation is the primary barrier for preventing blackouts and requires the
same information as that required for Power Load Monitoring and Blackout Prevention.
Redundant systems
Redundancy increases the availability and reliability of K-Pos DP and ensures that
positioning can still be performed should a single fault occur in either K-Pos DP or the
connected sensors and position-reference systems.
A dual-redundant system comprises a dual-redundant DP controller unit and two
identical operator stations (K-Pos OS). The controller unit and the operator stations
communicate via a dual high-speed data network. The controller cabinet contains two
controller process stations that operate with a master/slave relationship.
A triple-redundant system comprises a triple-redundant DP controller unit and three
identical operator stations. The controller unit and the operator stations communicate
via a dual high-speed data network. The controller cabinet contains three controller
process stations. The concept of majority voting is used to detect and isolate faults in the
sensors and in K-Pos DP itself.
Dual-redundant system
The process stations in a dual-redundant system operate in parallel, each receiving the
same input from the operator, sensors, position-reference systems and thrusters, and
each performing the same calculations.
However, only the Online (Master) PS can control the propulsion system. You can select
which PS is to be the Master. However, it is only possible to switch to a PS which is of
equal or better capability than the current Master. In the event of a deviation between the
two PSes, you can update the Offline PS with data from the Master PS.
Both control computers are continuously checked for hardware and software failures. If
a failure is detected, a warning or alarm is given.
Some advantages of redundancy:
• No single-point failure
The system is designed to avoid total system failure if a single failure occurs.
• Failure detection
The system will detect a failure, allowing corrective actions to be taken.
• Fault isolation
If one system component fails, the other components will not be affected.
20 407271/D
System overview
Automatic switch-over to the Offline PS

If a failure is detected in the Master PS, a switch-over to the Offline PS is activated
automatically and an alarm message is shown, for example:
Redundancy group "DpMain": B Master
This automatic switching is allowed only once. Before any further automatic switching
can take place, the operator must have rectified the fault.
Triple-redundant system
In triple-redundant systems, each process station uses the same data from the operator,
sensors, and position-reference systems to calculate command signals to the propulsion
system (they are all Online).
Fault detection and isolation are achieved by a process of majority voting. Once the
voting has taken place, the failed (incorrect) computer will, if possible, correct itself
automatically, based on the values of the other computers. If the failed computer cannot
correct itself, the operator is informed and the faulty computer should be replaced.
Meanwhile, the two other computers continue working and perform dual-redundant
procedures in the same way as for a dual system. The system will automatically
reconfigure itself to a triple-redundant system as soon as the failed computer is replaced.
In triple redundant systems, all three PSes perform voting, but only the Master PS
communicates with the operator stations and outputs serial line information. You can
select the PS that is to be the Master. However, it is only possible to switch to a PS which
is of equal or better capability than the current Master.
If the present Master PS should fail, another PS will immediately take over the Master
responsibility.
Advantages of triple redundancy are:
• Voting of sensor input signals
The voting is performed between tightly synchronised computers to:
– Detect sensor errors such as compass drift and sensor breakdown.
– Ensure that all three computers use the same data as a basis for calculation of
command signals.
• Software Implemented Fault Tolerance (SIFT)
The Triple Modular Redundancy (TMR) detects an error in the processing elements
and corrects the error by employing voting algorithms. The system represents a
Software Implemented Fault Tolerance (SIFT) concept.
• Voting on command (output) signals
– DP-31: The thruster commands from the three control computers are compared by
the Master PS and the median command is selected to be the final output.
– DP-32: The voting of the thruster commands is performed in the thruster control
field station.
407271/D 21
• No single-point failure
The system is designed to avoid total system failure if single failure occurs.
• Failure detection
The system will detect a failure, allowing corrective action to be taken.
• Fault isolation
If one system component fails, the other components will not be affected.
• No standby unit, all computers are “hot”
If one DP control computer fails in a triple-redundant system, the two other computers
continue working and perform procedures in the same way as for dual-redundant
system. Should a second computer fail, there is an automatic switch-over to the
remaining computer.
• Hot repair
It is possible to replace a computer while the other computers continue the operation.
22 407271/D
Getting to know your operator station
Getting to know your

operator station
Topics
Operator station, page 24
The K-Pos DP operator station includes a high-resolution colour flat screen for monitoring and
operating the system, and an operator panel with buttons, lamps and joystick controls.
Operator panel, page 25
The panel is the main operator interface for K-Pos DP and is designed for fully automatic
operations as well as manual and semi-automatic joystick operations.
Display layout, page 29
The display interface uses standard Microsoft Windows operating features such as menus and
dialog boxes. The display is divided into a number of predefined areas.
About dialog boxes, page 37
You can enter data into the system using dialog boxes. They are opened using panel buttons,
selecting menu commands or by selecting graphical symbols in the views or icons on the top bar.
About display views, page 39
Display views present various information about the operation of the system.
407271/D 23
Operator station
The K-Pos DP operator station includes a high-resolution colour flat screen for
monitoring and operating the system, and an operator panel with buttons, lamps and
joystick controls.
The power switch and adjustment
controls for the screen are placed on
the right hand side of the screen. The
use of the power switch and adjustment
controls is described in the Hardware
Module Description for the screen.
Some systems are delivered with a
secondary screen which includes the
same display layout and information,
but the operator is allowed to select
panes also on the dashboard.
24 407271/D
Operator panel
The panel is the main operator interface for K-Pos DP and is designed for fully automatic
operations as well as manual and semi-automatic joystick operations.
The controls and indicators on the operator panel are divided into the following
functional groups:
A Main modes
B System functions
C Reference systems and sensors
D View selection
E Thrusters
F Command responsibility
G Alarms
H Heading wheel and buttons
I Keypad
J Trackball
K 3-axis joystick
407271/D 25
Buttons
Several buttons with status lamps are provided on the operator panel for activation of
main modes, position-reference systems, thrusters and functions. The accompanying
status lamps indicate activation of a particular function, mode or system.
Other frequently-used functions, such as selection of display views and dialog boxes,
may also have dedicated buttons on the operator panel.
The buttons are grouped according to their main function. For safety reasons, some of
the buttons must be pressed twice within four seconds to invoke action. These buttons
are indicated by a white line along the lower edge.
Examples of buttons:
Double press (TAKE button for taking command) and single press
(ACK button for acknowledging messages).
Note
The appearance of the buttons may vary from vessel to vessel.
Use the three buttons in the MODES button group to select individual axes for automatic
control. They are referred to as the SURGE, SWAY and YAW buttons throughout this
manual.
Button arrangement for an operator station where the operator looks in the alongships
direction while looking at the screen:
Button arrangement for an operator station where the operator looks in the athwartships
direction while looking at the screen:
The buttons on the keypad are used to enter values or text into dialog boxes.
26 407271/D
This button toggles between numeric and alphanumeric mode. Numeric mode
is the default. Press the button for one second to toggle. A short beep will
confirm the change. The lamp is lit green when the panel is in alphanumeric
mode (letters) and not lit when in numeric mode (numbers).
In alphanumeric mode this button toggles between non-capital and capital
letters. Non-capital letters is the default. Press the button for one second
to toggle.
This is the ENTER key. Pressing this key applies the value or text you have
written to the system (i.e. corresponds with clicking OK in a dialog box).
Joystick
In Joystick mode, the operator controls the positioning of the vessel using the three-axis
joystick (integrated joystick and rotate controller).
To move the vessel in the surge and sway axes (alongships and athwartships directions),
tilt the joystick. The direction in which the joystick is tilted determines the direction of
applied thruster force, and the tilting angle determines the amount of applied thruster
force.
To turn the vessel (the yaw axis), rotate the joystick. The direction in which the joystick is
rotated determines the direction of the rotational moment demand, and the angle through
which the joystick is rotated determines the amount of applied rotational moment.
Trackball
The trackball is used to position the cursor on the screen.
The three outer buttons are used as the buttons on a computer

mouse:
• The left button is used to click screen buttons, choose from
menus and select symbols.
• The right button is used to open a shortcut menu.
• The middle button is not used.
The four inner buttons are used as the arrow buttons on a
computer keyboard.
Note
Be careful when using the outer buttons so that you do not
press the inner Up button at the same time.
407271/D 27
Heading wheel
The heading wheel comprises one heading wheel and seven buttons. Three of these
buttons are located in front. The other four form a circle close to the heading wheel.
The heading setpoint can be changed by turning the heading wheel or by using the
decrease or increase buttons.
The functions that are available depend on the present mode.
28 407271/D
Display layout
The display interface uses standard Microsoft Windows operating features such as menus
and dialog boxes. The display is divided into a number of predefined areas.
In some deliveries other display sizes are used. The principles for dividing the display
into top bar, dashboard and working areas, as well as the principles of operation are
the same as for the display with an aspect ratio of 16:9. Example of display layout
for ratio 16:9:
407271/D 29
For displays with a ratio of 16:10 the difference from the standard layout is that the side
bar is not visible. The functions available on the side bar are accessible from the View
menu. Example of display layout for a ratio of 16:10:
30 407271/D
For displays with a ratio of 4:3 the difference from the standard layout is that there are
only six panes on the right-hand side working area instead of nine, and that the side bar
is not visible. The functions available on the side bar are accessible from the View menu.
Example of display layout for ratio 4:3:
407271/D 31
Top bar
The information on the top bar, presented by controls
and indicators, is grouped in different parts showing the
following:
• product name
• date and time
• operator station and user name
• drop-down menu for detailed system information
• operation mode
• controller PS group
• information about unacknowledged alarms
• menu buttons for accessing dialog boxes
32 407271/D
The system status provides information about the operator station and the user, in
addition to the product name and current date and time.
When the built-in simulator is in use the text SIMULATING replaces the name of the
user: . The text changes also when the remote support is running.
Clicking the extension button gives detailed system information such as delivery
name, system software version, etc.
You can close the information box by clicking the collapse button .
The indicator shows current operation mode.
When the operator station is in command the command group

button, for example ‘Main: DP’ is green. Pressing this button
opens the Command Control dialog box. If the thrusters are not
ready but the operator station is in command, the background
colour of the button is yellow
The alarm presentation area shows the most recent emergency, alarm or warning message
that has not yet been acknowledged.
407271/D 33
The icon shows the priority of the alarm:

• orange — second priority Warning (W)
• red — highest priority Alarm (A) and Emergency (E)
Clicking the icon acknowledges the alarm. It disappears from
the top bar but can still be seen in the Event list view.
Shows the time and date when the alarm was generated.
Shows the tag name of the OS alarm.
The icon is a shortcut to more information about the alarm.

Clicking the icon activates the online help for system events.
The extension button shows the number of unacknowledged

alarms. Clicking the icon expands the list of alarms because
only two alarms are visible on the top bar at any time.
The colour of the extension button is the colour of the

unacknowledged alarm with highest priority, e.g.:
or:
The menu buttons provide command menus allowing access to the respective dialog
boxes. Which menus are available depends on the configuration of the delivered system.
34 407271/D
Dashboard layout
The dashboard area shows important performance information to allow immediate
assessment of the situation.
On the operator station in command, the content of this area cannot be altered by the
operator, but changes automatically according to the selected main mode. On the
operator station not in command, you can change the panes that are shown, but as soon
as the operator station takes command, the layout of the dashboard goes back to default.
Several parts of the dashboard area are click-sensitive.
As the cursor changes when it is moved over a click-sensitive object, a tooltip is shown
for a few seconds. This text explains the use of the click-sensitive object.
Related topics
Vessel speed pane, page 408
Joystick pane, page 397
Position deviation pane, page 399
Heading pane, page 394
Rotation center position pane, page 403
Power consumption pane, page 400
407271/D 35
Side bar
The side bar contains buttons for quick access to functions related
to the display:
• changing the light and colours on the display (palettes)
• selecting special display views and display orientation
• defining and selecting combinations of display views and
panes in the two working areas
A check mark on the palette button shows which
option is selected.
N UP means North UP. All views in the working
area that show the vessel’s heading will be shown
in a fixed orientation (north up), while the heading
of the vessel symbol is shown as relative.
H REL means Heading RELative. All views in the
working area that show the vessel’s heading will
be shown relative to the vessel heading, while the
heading of the vessel symbol is fixed.
Note
The compass rose on the Heading pane will
always function as a compass and is not affected
by this button.
Working areas
The working areas show operator-selectable display views and panes.
The area on the left-hand side shows detailed views. The operator can select which
main views will be shown.
The area on the right-hand side is divided into panes which show different information.
The operator can select what information will be shown. In addition detailed views can
be shown replacing the nine panes with one view.
A predefined combination of display views and panes can be stored and opened by
Clicking a button once.
36 407271/D
About dialog boxes

You can enter data into the system using dialog boxes. They are opened using panel
buttons, selecting menu commands or by selecting graphical symbols in the views or
icons on the top bar.
Dialog boxes appear in the working area and you can move them as required.
When data has been modified in a dialog box, the message (Changed) is added to the
title bar.
Data entered in a dialog box is not used by the system until you confirm the input by
clicking Apply or OK.
• If you click OK, the changes that you have made are applied and the dialog box is
removed from the display. If any data errors are found, no changes are made and
the dialog box remains open.
• If you click Cancel, no changes are made and the dialog box is removed from the
display.
• If you click Apply, the changes that you have made are applied and the dialog box
remains open.
When you are not allowed to make changes to the data in a dialog box, both OK and
Apply will be unavailable (dimmed). This can occur for example when the operator
station is not in command or the system is not in an relevant mode.
Some dialog boxes have several pages which you access by clicking the page tab. For
this type of dialog box, both Apply and OK apply the changes that you have made on all
pages of the dialog box.
Click Cancel to close the dialog box without action. If a dialog box can be accessed
by pressing a panel button, pressing this panel button while the dialog box is opened
closes the dialog box without action.
Selecting dialog boxes

All dialog boxes can be selected by a command from the menus on the top bar.
Because some commands are relevant to specific modes, they are not available until the
relevant mode is selected:
407271/D 37
Some of the dialog boxes, usually the most used ones, can be selected by pressing a
dedicated button on the panel. This gives quicker and easier access to the dialog boxes.
Entering values
Numeric values can be entered into dialog boxes in different ways, depending on the
type of numeric input field used and the functionality available on the operator station.
There are two types of input boxes used for entering numeric values:
Text box:
This is a rectangular box in which you can type a value. If the
box already contains a value, you can select the value to be used
or delete it and enter in a new value.
Spin box:
This is a text box with up and down arrows. Clicking the arrows
increases or decreases the value by a fixed increment. A value
can also be entered directly in the box.
On an operator panel with a numeric keypad, the keypad represents the easiest way
to enter numeric values.
Alternatively, you can use the Enter Value dialog box. When enabled, this dialog box is
opened whenever you click a numeric field in a dialog box. This method is especially
suited to operator stations that have no numeric keypad or that have a touch screen. To
enable the Enter Value dialog box:
1 Click Tools→Numeric entry dialog.
The Numeric Entry Keypad Dialog Use dialog box is opened.
2 Select the Enable Numeric Entry Keypad Dialog check box.
3 Click OK.
Related topics
Numeric entry keypad dialog use dialog box, page 214
38 407271/D
About display views

Display views present various information about the operation of the system.
Orientation of the operator station and effect on display

views
Several of the display views show information relative to a diagram of the vessel. For
example thrusters are shown in the thruster views in their relative positions on the vessel
diagram. The orientation of the vessel diagram is configured to suit the orientation of the
operator station, so that it is easier to interpret what is seen on the screen. There are four
possible orientations which are generally used in the following situations:
• The operator is facing forward in the vessel when looking at the screen. The vessel
diagram is shown “bow up” on the display.
• The operator is facing to starboard in the vessel when looking at the screen. The
vessel diagram is shown “bow left” on the display.
• The operator is facing aft in the vessel when looking at the screen. The vessel diagram
is shown “bow down” on the display.
• The operator is facing to port in the vessel when looking at the screen. The vessel
diagram is shown “bow right” on the display.
In this manual, the example display views show the vessel diagram “bow up”. For other
orientations, the information in each view is the same, but it may be arranged differently.
Tooltip/hotspot cursor
In many of the display views, the standard cursor changes to a pointing hand (the hotspot
cursor) when it is moved over an area defined as click-sensitive. Typical examples
of such click-sensitive areas are:
• Buttons for zooming in and out.
• Numerical fields showing other related numerical values.
• Graphical fields showing a specific dialog box.
• Change of position setpoint.
• Opening another view related to the specific component.
• Opening the control dialog box for a specific plot, etc.
407271/D 39
As the cursor changes when it is moved over a

click-sensitive object, a tooltip is shown for a
few seconds. This text explains the use of the
click-sensitive object.
Zooming and panning function

To zoom a view that is shown in the working areas, click Zoom In on the shortcut menu.
The view is enlarged by approximately 60 %, centred on the cursor position when the
shortcut menu was opened.
A zoomed view can be panned or zoomed again. Place the cursor in the required area
and click the right trackball button. A variant of the following shortcut menus is opened:
Zoom In zooms the view again, centred on the cursor position when this menu was
opened.
Zoom Reset returns the view to its original scale.
Center Here selects a new position for the centre of the Posplot view.
The panning function is automatically switched off if the rotation centre is changed or
another centre point is selected on the Mode page of the Posplot view-control dialog box.
The panning function may be automatically switched on in Mixed Joystick mode,
dependent on the configuration of your vessel. If required, it can be switched off again
by clicking Center Reset.
Clicking Center Reset returns the centre of the view to its original position, i.e. the vessel
position or position setpoint, depending on the centre point selected on the Mode page of
the Posplot view-control dialog box. It also switches the panning function off.
40 407271/D
Selecting display views and panes

Display views can be shown in both working areas. Panes can only be shown in the
right-hand working area.
Selecting display views

To display views on the left-hand working area:
Press the relevant button in the VIEWS button group on the operator panel.
or
Place the cursor in the upper left corner of the working area so that the drop-down list
becomes visible. Click the arrow and select the view from the list.
The Posplot view is at the top of the list as it is the most used view, the rest of the views
are in alphabetical order.
To show views on the right-hand working area:
From a click-sensitive pane, when the cursor within a pane changes into a pointing hand
and the tooltip 'Detail view' appears, you can select and replace the nine panes with a
corresponding display view.
To return to the panes, click the cross in the upper right corner.
Selecting panes
Panes can be shown only on the right-hand working area.
Place the cursor in the upper left corner of any of the panes and click a name in the
drop-down menu to select the pane.
407271/D 41
View-control dialog boxes

Many of the views and panes have control dialog boxes for selecting the information
to be shown and controlling features. These dialog boxes are accessed via the shortcut
menu for the view or pane.
Right-click within the view or pane. If a view control is available, it will appear on
the shortcut menu.
42 407271/D
Preparing for operation
Topics
Starting the system, page 45
The DP controller cabinet and operator station are usually left with the power on and the system in
Standby mode.
Taking command, page 45
Although all available information about the system is provided at each operator station, operator
terminal and wing terminal, only one operator station, operator terminal or wing terminal can be
in command of the system at a time.
Enabling thrusters, page 46
All thrusters that are to be controlled by K-Pos DP must first be enabled. Only enabled thrusters
can be used by the system.
Enabling a gyrocompass, page 46
At least one gyrocompass should be enabled at all times to provide heading information to the
system for automatic heading control.
Enabling a wind sensor, page 47
At least one wind sensor should be enabled at all times to provide the system with wind speed
and direction information.
Enabling a vertical reference sensor, page 48
At least one vertical reference sensor (VRS) should be enabled at all times to provide the system
with pitch and roll information.
Enabling the first position-reference system, page 49
The reference point of the first position-reference system selected and accepted for use with the
system, becomes the reference origin. Position information from any other reference systems is
then calibrated according to this system.
Enabling other position reference systems, page 50
The other position-reference systems that are enabled can be in a monitoring state. This is
indicated on the Reference system main view, showing the status for these systems as Mon Online.
You can change the status from monitoring to enabled for any reference system.
Enabling a speed sensor, page 51
Speed measurements can be used in addition to position measurements to improve the vessel
speed control.
407271/D 43
Selecting the vessel draught, page 53

For optimal positioning performance, the system must have accurate information regarding
the vessel's draught at all times. The vessel draught can either be specified by the operator or
measured by a draught sensor.
Enabling a rate-of-turn sensor, page 53
Rate-of-turn (ROT) measurements can be used to improve the heading control of the vessel. This is
useful when a very accurate heading control is required during high-speed sailing, or when the
vessel has a hull shape that makes it difficult to control the heading.
44 407271/D
Starting the system

The DP controller cabinet and operator station are usually left with the power on and the
system in Standby mode.
Prerequisites
If the entire system has been shut down, use the start-up procedure given in the
Maintenance Manual for your vessel to start up the system.
Similarly, use the shut-down procedure given in the Maintenance Manual for your vessel
if the entire system has to be shut down.
Taking command
Although all available information about the system is provided at each operator station,
operator terminal and wing terminal, only one operator station, operator terminal or wing
terminal can be in command of the system at a time.
Prerequisites
The TAKE button on the operator station in command is lit. No buttons in the COMMAND
group are lit on any other operator stations.
Context
In the following example, both DP-OS1 and DP-OS2 are connected to the main
controller PS group. DP-OS1 currently has command of this group, and command
is to be transferred to DP-OS2.
Procedure
• On DP-OS2 press the TAKE button twice within four seconds.
Result
The TAKE button starts to flash and becomes steadily lit when the operator station has
taken command.
407271/D 45
Enabling thrusters
All thrusters that are to be controlled by K-Pos DP must first be enabled. Only enabled
thrusters can be used by the system.
Prerequisites
Before a thruster can be enabled, it must be running without faults and be available for
control from K-Pos DP. The Running and Ready status for all thrusters is shown in the
Thruster view and the Thruster enable dialog box.
Context
There are generally two criteria for a thruster Ready status:
• The thruster must be running without faults.
• The thruster must be available for control from K-Pos DP.
Changing from Standby to Joystick mode will automatically enable the thrusters provided
that they are ready.
If a thruster is enabled and it subsequently loses its Ready status, it is automatically
disabled.
The THRUSTERS button group contains buttons used to enable or disable each of the
available thruster units for K-Pos DP control. Each button has a status lamp which is
lit when the thruster is enabled.
You can also use the Thruster Enable dialog box.
Related topics
Thruster enable dialog box, page 307
Thruster main view, page 371
Enabling a gyrocompass
At least one gyrocompass should be enabled at all times to provide heading information
to the system for automatic heading control.
Context
Normally, all the available sensors are enabled for use. The system then receives
and compares the signals from all the sensors, but uses only one of them. You can
specify which sensor is preferred for use by the system. If no errors are detected in the
measurements, the system will always use the operator-preferred sensor (for which
Preference is selected in the dialog box).
46 407271/D
Procedure
1 Press the GYRO button to open the Sensors - Gyro dialog box.
Tip
You can also open the dialog box by clicking Sensors→Gyro.
2 Check that the OK check box for the gyrocompass is selected.

3 Select the Enable check box for the required gyrocompass.
4 Repeat steps 2 and 3 for any further gyrocompasses that are to be enabled.
5 Click Apply.
The selected gyrocompasses are enabled.
Result
You can examine the measured values from sensors in more detail in the Sensors view.
Related topics
Sensors dialog box - Gyro page, page 271
Sensors view, page 365
Enabling a wind sensor

At least one wind sensor should be enabled at all times to provide the system with wind
speed and direction information.
Context
The raw measurements of wind speed and direction are filtered internally (using a
Kalman filter with both low and high frequency parts), to estimate the most reasonable
speed and direction values to be used by the system.
There can be situations where you want to temporarily stop using the input from the wind
sensors, such as during helicopter operations or when operating close to another large
structure where there may be sudden disturbances of the measured wind. If you disable
all the wind sensors, the system continues to use the wind speed and direction values that
were measured just before the most recent wind sensor was disabled.
407271/D 47
Procedure
1 Press WIND to open the Sensors - Wind dialog box.
Tip
You can also open the dialog box by clicking Sensors→Wind.
2 Check that the OK check box for the wind sensor is selected.
3 Select the Enable check box for the required wind sensor.
4 Click Apply.
The wind sensor is enabled.
Result
Related topics
Sensors dialog box - Wind page, page 280
Enabling a vertical reference sensor

At least one vertical reference sensor (VRS) should be enabled at all times to provide the
system with pitch and roll information.
Context
Information from the VRS is used to adjust the measurements received from the
position-reference systems for the vessel's pitch and roll motions. If a VRS also has
a heave sensor, the heave information is used for monitoring purposes only. If VRS
information is lost, the system will be unable to compensate the received position
measurements for vessel motion. The positioning capability of the system can then be
severely degraded.
Procedure
1 Press the VRS button to open the Sensors - VRS dialog box.
48 407271/D
Tip
You can also open the dialog box by clicking Sensors→VRS.
2 Check that the OK check box for the VRS is selected.

3 Select the Enable check box for the required VRS.
4 Click Apply.
The VRS is enabled.
Result
Related topics
Sensors dialog box - VRS page, page 278
Enabling the first position-reference system

The reference point of the first position-reference system selected and accepted for use
with the system, becomes the reference origin. Position information from any other
reference systems is then calibrated according to this system.
Prerequisites
Before enabling the first position-reference system, ensure that the vessel speed is as
low as possible.
If the system has been in Joystick mode for more than a few minutes without an enabled
position-reference system, first go to Standby mode and then back to Joystick mode to
reset the vessel model.
Context
The position-reference system provides position measurements relative to a known
reference point. When the position-reference system is selected and accepted for use with
the system, it becomes the reference origin (the origin in the internal coordinate system).
Procedure
1 Press the button for the required position-reference system.
Tip
You can also use the Reference System dialog box to enable a system.
• An initial calibration of the position-reference system is performed.
407271/D 49
• The button for the selected position-reference system will flash during the
calibration process.
2 Check that the button for the selected position-reference system becomes steadily lit
to indicate that acceptable position measurements are being received.
3 Check that the following message is shown in the Event List view:
Reference origin <system><vessel pos. north><vessel pos. east>
The origin of this position-reference system is now used as the reference origin.
4 Allow the vessel model to stabilise for five minutes before enabling any additional
Related topics
Reference system dialog box - Enable page, page 251
Presentation of messages, page 102
Enabling other position reference systems

The other position-reference systems that are enabled can be in a monitoring state. This
is indicated on the Reference system main view, showing the status for these systems as
Mon Online. You can change the status from monitoring to enabled for any reference
system.
Procedure
1 Press the button for the required position-reference system.
Tip
You can also use the Reference System dialog box to enable a system.
• The position measurements from the position-reference system are calibrated

against the reference origin.
• The button for the selected position-reference system will flash during the
calibration process.
2 Check that the button for the selected position-reference system becomes steadily
lit, and that the status shows Online in the Reference system main view, to indicate
that acceptable position measurements are being received.
Result
If the variation in the position measurements from an enabled position-reference system
is too high during the calibration process, the following message will be shown:
Calibration error <system><limit><variance>
50 407271/D
This may be due to an error in the position-reference system or noise value that is
higher than expected. However, the system will continue trying to calibrate the
position-reference system until it is disabled.
Continuous measurements of the vessel's position are essential for dynamic positioning
and it is therefore normal to use several different position-reference systems.
Related topics
Reference system main view, page 356
Changing the reference origin

The reference origin selected should be the one most appropriate to your operational
requirements. There may be situations when you need to change the reference origin if
the measurements provided by the position-reference system are disturbed or unreliable.
Procedure
1 Press the respective buttons to deselect all position-reference systems.
If one or both of the surge/sway axes have been enabled for automatic control, the
following message is shown:
No reference system enabled
2 In the Reference system main view wait until the Status field for all of the
position-reference systems changes to Offline.
3 Enable the position-reference system that is to provide the reference origin.
4 Allow the vessel model to stabilise for five minutes before enabling any additional
Related topics
Enabling a speed sensor

Speed measurements can be used in addition to position measurements to improve the
vessel speed control.
Context
The speed information may be received from two sources: Doppler Log and GPS
speed sensors. You can enable available speed sensors or enter a manual alongships
vessel speed value.
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In high speed operations, all enabled speed sensors will normally be in use (unless a
sensor has failed) when speed measurements are used by the system. It is recommended
to also enable manual speed input since the manual value will be updated based on
the sensors in use. Should signals from all the sensors be lost, you will have an initial
manual value that reflects the real situation.
Procedure
1 Click Sensors→Speed to open the Sensors dialog box.
2 Check that the OK check box for the speed sensor is selected.
3 Select the Enable check box for the required speed sensor.
4 Click Apply.
The speed sensor is enabled.
Result
Related topics
Sensors dialog box - Speed page, page 275
Enabling and entering a manual speed value

Prerequisites
If you want to use a manually entered speed value, you must disable the speed sensors.
Procedure
1 Click Sensors→Speed to open the Sensors dialog box.
2 Ensure that all speed sensors are disabled.
3 Select the Enable check box for manual speed.
4 Enter the value for the required speed.
5 Click Apply.
The manual speed sensor value is enabled.
When a high-speed operation is selected, the In Use check box is marked selected.
Related topics
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Selecting the vessel draught

For optimal positioning performance, the system must have accurate information
regarding the vessel's draught at all times. The vessel draught can either be specified by
the operator or measured by a draught sensor.
Procedure
1 Click Sensors→Draught to open the Draught page of the Sensors dialog box.
The content of this dialog box will vary according to the system configuration.
2 Select the draught sensor to be used or select a suitable fixed draught.
If the information from the draught sensors is correct and reliable, then this should
be used in preference to manually-entered or fixed values.
Related topics
Sensors dialog box - Draught page, page 269
Enabling a rate-of-turn sensor

Rate-of-turn (ROT) measurements can be used to improve the heading control of the
vessel. This is useful when a very accurate heading control is required during high-speed
sailing, or when the vessel has a hull shape that makes it difficult to control the heading.
Prerequisites
Measurements of the vessel's rate of turn are received from the gyrocompasses or a
dedicated rate-of-turn sensor. The dedicated rate-of-turn sensor should be enabled to
allow rate-of-turn information to be used by the system.
Procedure
1 Click Sensors→Rate of turn to open the Sensors dialog box.
2 Check that the OK check box for the rate-of-turn sensor is selected.
3 Select the Enable check box for the required rate-of-turn sensor.
4 Click Apply.
The rate-of-turn sensor is enabled.
Related topics
Sensors dialog box - Rate of turn page, page 273
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Controlling the vessel
Topics
Controlling the vessel manually, page 56
In Joystick mode you control the vessel using the three-axis joystick.
Controlling the vessel heading automatically, page 56
In Joystick mode with a gyrocompass enabled, you can select automatic heading control.
Controlling surge and sway automatically, page 57
In Joystick mode with a gyrocompass enabled, and a position-reference system enabled and
accepted, you can select automatic position control in both the surge and sway axes.
Stabilising the vessel, page 58
In Joystick mode with a gyrocompass enabled, and a position-reference system enabled and
accepted, you can select automatic stabilisation. This means that both the yaw and surge axes are
under automatic control while the sway axis remains under joystick control, or the yaw and sway
axes are under automatic control while the surge axis remains under joystick control.
Controlling position and heading automatically, page 59
In Auto Position mode, the system automatically maintains the heading and position of the vessel.
The actual number of active sensors required depends on the DP Class requirements for the
operation to be performed.
Changing the vessel heading, page 60
There are several ways to change the heading setpoint. The heading must be under automatic
control. You cannot use the different methods at the same time.
Stopping a change of heading, page 63
You can stop the rotation of the vessel during a change of heading either by changing the setpoint
to the present heading or, in some modes, by taking a pause (without changing the setpoint).
Changing the vessel position, page 64
There are several ways to change the position setpoint. The surge and sway must be under
automatic control. You cannot use the different methods at the same time.
Stopping a change of position, page 66
You can stop the movement of the vessel during change of position either by changing the setpoint
to the present position or, in some modes, by taking a pause (without changing the setpoint).
54 407271/D
Monitoring the gangway, page 68

The gangway system can consist of local and remote sensors that provide information of length,
azimuth and elevation and the connect status.
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Controlling the vessel manually

In Joystick mode you control the vessel using the three-axis joystick.
Prerequisites
• At least one gyrocompass is enabled.
• At least one wind sensor is enabled.
• At least one vertical reference sensor is enabled.
• Thrusters, main propulsion units and rudders are enabled.
Procedure
1 Ensure that the joystick is in the zero position in all three axes.
2 Press the JOYSTICK button twice within four seconds.
The JOYSTICK button starts to flash and then becomes steadily lit when the mode is
entered.
3 Use the joystick to control the thrusters in all three axes (surge, sway and yaw).
• To move the vessel in the surge and sway axes (alongships and athwartships
directions), tilt the joystick. The direction in which the joystick is tilted
determines the direction of applied thruster force, and the angle of tilt determines
the amount of applied thruster force.
• To turn the vessel (the yaw axis), rotate the joystick. The direction in which the
joystick is rotated determines the direction of the turning force setpoint, and the
angle through which the joystick is rotated determines the amount of applied
turning moment.
Controlling the vessel heading automatically

In Joystick mode with a gyrocompass enabled, you can select automatic heading control.
Prerequisites
Procedure
1 Check that none of the YAW, SURGE and SWAY buttons are lit.
2 Press the YAW button twice within four seconds.
The YAW button starts to flash. The system applies force to reduce the rate of turn
and when it is reduced to less than a predefined limit, automatic heading control
is enabled and the YAW and PRESENT HEADING buttons become steadily lit. The
56 407271/D
current vessel heading becomes the heading setpoint, and the system automatically
maintains this heading.
Result
The vessel rotation (rate of turn) starts to slow down in a controlled manner at a rate that
depends on the selected controller gain.
The deviation between the estimated heading and the heading setpoint is shown in the
Heading pane.
Related topics
Controlling surge and sway automatically

In Joystick mode with a gyrocompass enabled, and a position-reference system enabled
and accepted, you can select automatic position control in both the surge and sway axes.
Prerequisites
• At least one position-reference system is enabled and accepted.
Procedure
2 Press the SURGE and SWAY buttons twice within four seconds.
The SURGE and SWAY buttons start to flash.
Result
The vessel starts to slow down in the surge and sway axes in a controlled manner
at a rate that depends on the selected controller gain. When the vessel speed (in both
the surge and sway axes) is reduced to less than predefined limits, automatic position
control is enabled and the SURGE and SWAY buttons become steadily lit. The current
vessel position becomes the position setpoint, and the system automatically keeps the
vessel at this position.
The deviation between the estimated position and the position setpoint is shown in the
Position deviation pane.
Related topics
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Stabilising the vessel

In Joystick mode with a gyrocompass enabled, and a position-reference system enabled
and accepted, you can select automatic stabilisation. This means that both the yaw
and surge axes are under automatic control while the sway axis remains under joystick
control, or the yaw and sway axes are under automatic control while the surge axis
remains under joystick control.
Prerequisites
Procedure
The YAW button starts to flash. The vessel rotation (rate of turn) starts to slow down
in a controlled manner at a rate that depends on the selected controller gain.
When the rate of turn is reduced to less than a predefined limit, automatic heading
control is enabled and the YAW and PRESENT HEADING buttons become steadily
lit. The current vessel heading becomes the heading setpoint, and the system
automatically keeps the vessel on this heading.
3 Press either the SURGE or SWAY button twice within four seconds.
The SURGE or SWAY button starts to flash. The vessel starts to slow down in the
surge or sway axis in a controlled manner at a rate that depends on the selected
controller gain.
When the vessel speed (in the surge or sway axis) is reduced to less than a
predefined limit, automatic position control in the selected axis is enabled and the
SURGE or SWAY button becomes steadily lit. The current vessel position in the
selected axis becomes the position setpoint in that axis and the system automatically
keeps the vessel at this position.
4 Control the vessel movement in the unselected axis manually using the joystick.
Result
Heading pane.
Related topics
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Controlling position and heading

automatically
In Auto Position mode, the system automatically maintains the heading and position
of the vessel. The actual number of active sensors required depends on the DP Class
requirements for the operation to be performed.
Prerequisites
Context
The system is in Joystick mode.
Procedure
1 Check that none of the SURGE, SWAY and YAW buttons are lit.
2 Ensure that either High Precision or Relaxed (if configured) is set as the selected
Control Mode in the Gain dialog box.
3 Hold the vessel as stationary as possible by using the joystick to minimise vessel
motion and speed.
4 Press the AUTO button twice within four seconds.
The AUTO button starts to flash and then becomes steadily lit when the mode is
entered.
The SURGE, SWAY and YAW buttons start to flash.
The vessel rotation (rate of turn) starts to slow down in a controlled manner at a rate
that depends on the selected controller gain.
The vessel starts to slow down in the surge and sway axes in a controlled manner
at a rate that depends on the selected controller gain.
When the rate of turn is less than a predefined limit, automatic heading control
is enabled and theYAW and PRESENT HEADING buttons become steadily lit. The
current vessel heading becomes the heading setpoint, and the system automatically
maintains this heading.
When the vessel speed (in both the surge and sway axes) is reduced to less than
predefined limits, automatic position control is enabled and the SURGE and SWAY
buttons become steadily lit. The current vessel position becomes the position
setpoint, and the system automatically keeps the vessel at this position.
If Green control mode is desired, continue as follows:
5 Allow the vessel to stabilise in Auto Position mode for about 15 minutes to attain
optimal performance in Green control mode.
6 Press the CONTROL SETUP button to open the Gain dialog box.
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7 Select Green control mode and set the radius of the operational area.
The defined area is shown in the Posplot view. The outer operational area is
indicated by a dashed circle and the inner working area is indicated by a dashed
circle with green shading.
Result
Heading pane.
Note
No change in position or heading should be attempted during the first five minutes after
entering Auto Position mode in order to allow the vessel model to stabilise. For critical
DP operations or during difficult weather/current conditions, this initial time period
should be extended to at least 15 minutes.
Related topics
Gain dialog box, page 184
Posplot view, page 336
Changing the vessel heading

There are several ways to change the heading setpoint. The heading must be under
automatic control. You cannot use the different methods at the same time.
Changing the vessel heading using the heading wheel

When the vessel heading is under automatic control, you can change the heading setpoint
using the heading wheel together with the Heading setpoint dialog box.
Procedure
1 Press the Activate (heading wheel) button once.
• The heading wheel is activated.
• The Heading setpoint dialog box is opened.
2 Use the heading wheel to coarsely adjust the heading setpoint by rotating it
clockwise to increase the setpoint (to starboard) or counter-clockwise to decrease
the setpoint (to port).
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3 Use the increase or decrease button to finely adjust the heading setpoint by pressing
it one or more times.
The current vessel heading together with the heading deviation and the turning
direction of the vessel are shown in the Heading pane.
Result
The vessel starts to move immediately onto the new heading. The turn direction will
depend on the new heading setpoint – the shortest turn is always used.
Related topics
Heading Setp. dialog box, page 195
Heading wheel, page 28
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Changing the vessel heading using the Posplot view

With the Posplot view opened, you can change the heading by marking the new setpoint
with the trackball.
Prerequisites
The vessel’s heading must be under automatic control.
Procedure
1 Click the heading setpoint symbol in the Posplot view.

The Heading (Setpoint) dialog box is opened.
2 Move the setpoint symbol with the trackball.

The setpoint symbol moves along the edge of the Posplot view and the heading is
updated dynamically in the Heading dialog box.
3 Click again to fix the setpoint symbol at the required heading.
A temporary heading setpoint symbol is shown. The new setpoint and the difference
from the present setpoint are shown in the Heading dialog box.
4 Either click OK to accept the new heading setpoint, or Cancel to keep the existing
setpoint.
Related topics
Heading (Setpoint) dialog box, page 194
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Changing the vessel heading using the Change heading

button
Procedure
1 Press the CHANGE HEADING button to open the Heading dialog box.
2 Change the values.
A new (blue) heading setpoint symbol with a dotted line that indicates the location
of the new setpoint with respect to the vessel's heading, is shown.
The new (blue) setpoint symbol and line move relative to the vessel symbol in
response to value changes made in the dialog box.
3 Click OK or Apply.
The heading deviation of the vessel is shown in the Heading pane on the dashboard.
Related topics
Heading dialog box - Heading page, page 191
Stopping a change of heading

You can stop the rotation of the vessel during a change of heading either by changing the
setpoint to the present heading or, in some modes, by taking a pause (without changing
the setpoint).
Stopping by using the Stop button

Procedure
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
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2 The YAW button is flashing and the text SLOWDOWN is shown in the Heading
pane on the dashboard.
3 When the vessel comes to a stop the YAW button becomes steadily lit. The text
STOPPED is shown in the Heading pane on the dashboard.
The heading setpoint has not changed and the PRESENT HEADING button is not lit.
4 Deselect the STOP button and the vessel will continue the rotation to the defined
heading setpoint.
If you want to keep the heading at the setpoint when the STOP button was pressed
(in stead of continuing the rotation) you can press the PRESENT HEADING button.
However, if you are changing both heading and position, this will also damp and stop the
movement at the present position.
Stopping by using the Present Heading button

Procedure
• To interrupt a requested change of heading and set the vessel's present heading as
the heading setpoint, press the PRESENT HEADING button twice within four seconds.
Result
The PRESENT HEADING button starts to flash and becomes steadily lit when the vessel's
present heading is set as the heading setpoint.
Changing the vessel position

There are several ways to change the position setpoint. The surge and sway must be
under automatic control. You cannot use the different methods at the same time.
Changing the vessel position using the Posplot view

With the Posplot view opened, you can change the position by marking the new setpoint
with the trackball.
Prerequisites
The vessel position must be under automatic control.
Procedure
1 Click the position setpoint symbol in the Posplot view.

The Position (Setpoint) dialog box is opened.
64 407271/D

The setpoint symbol moves on the display and the position coordinates are updated
dynamically in the Position dialog box.
3 Click again to fix the setpoint symbol at the required position.
A temporary position setpoint symbol is shown at the new position and the
coordinates, distance and both true and relative direction from the present position
setpoint are shown in the Position dialog box.
4 Either click OK to accept the new position setpoint, or Cancel to continue using the
existing setpoint.
Related topics
Position (Setpoint) dialog box, page 231
Changing the vessel position using the Change position

button
You can automatically change the vessel position (in one or both axes) while still
controlling the heading manually.
Prerequisites
A position reference system must be enabled and accepted in order to change the position
automatically.
Context
New position setpoints can be defined in different ways with respect to the vessel's
current position:
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• true to north/east/south/west
• relative to surge (fore/aft) and sway (port/starboard)
• relative to range and bearing
• absolute coordinates
Procedure
1 Press the CHANGE POSITION button to open the Position dialog box.
2 Select the required tab.
3 Change the values.
A new (blue) position setpoint symbol with a dotted line that indicates the location
of the new position setpoint with respect to the vessel's rotation centre, is shown.
The new (blue) position setpoint symbol and line move relative to the vessel symbol
in response to value changes made in the dialog box.
4 Click OK.
The position deviation of the vessel is shown in the Position pane on the dashboard.
Result
The vessel starts to move to the new position.
Related topics
Position dialog box, page 218
Stopping a change of position

You can stop the movement of the vessel during change of position either by changing
the setpoint to the present position or, in some modes, by taking a pause (without
changing the setpoint).
66 407271/D
Stopping by using the Stop button

Procedure
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
2 The SURGE and SWAY buttons are flashing and the text SLOWDOWN is shown
in the Heading pane on the dashboard.
The position setpoint has not changed and the PRESENT POSITION button is not lit.
3 When the vessel comes to a stop the SURGE and SWAY buttons become steadily lit.
The text STOPPED is shown in the Heading pane on the dashboard.
4 Deselect the STOP button and the vessel will continue the movement to the defined
position setpoint. The message Stopping cancelled is shown.
If you want to keep the position at the setpoint when the STOP button was pressed
(in stead of continuing the movement) you can press the PRESENT POSITION button.
However, if you are changing both position and heading, this will also damp and stop the
rotation at the present heading.
Stopping by using the Present Position button

Procedure
• To set the vessel's present position as the position setpoint, press the PRESENT
POSITION button twice within four seconds.
Result
The PRESENT POSITION button starts to flash and then becomes steadily lit when the
vessel's present position is set as the position setpoint.
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Monitoring the gangway

The gangway system can consist of local and remote sensors that provide information
of length, azimuth and elevation and the connect status.
Context
Local sensors give length, azimuth and elevation measurements seen from the vessel
where the gangway is installed. The remote sensors give the same measurements seen
from the remote objects side. The length should be the same, but the azimuth and the
elevation angles will be different.
The gangway interface can also be used as a reference system. The remote sensors are
only used for monitoring.
The gangway implementation also have support for traffic control (walk/don’t walk) and
a general system status.
Procedure
1 On the operator panel press GANGWAY in the Sensors group.
2 On the Gangway view follow the changes of the gangway position and status.
Related topics
Gangway view, page 322
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Setting system parameters
Topics
Selecting the joystick thrust, page 71
There are two settings for joystick thrust: full and reduced. When full thrust is selected, the
maximum force available from all thrusters can be used. When reduced thrust is selected, the
maximum applied thruster force for axes that are under joystick control is limited to about 50 % of
the available force from all thrusters.
Selecting joystick precision, page 71
The applied thruster force for axes that are under joystick control can be scaled in various ways.
This scaling gives a different response to movement of the joystick, depending on the configuration
and operational requirements of the vessel.
Enabling wind compensation, page 71
Joystick control can be combined with wind compensation.
Selecting the vessel rotation centre, page 72
When the vessel is under Joystick or mixed Joystick/Auto control, it is possible to specify that
the vessel should rotate about the fore or aft part of the vessel instead of midships which is the
default. This feature can be useful when leaving or approaching another vessel or a fixed structure
such as a quay.
Changing the rate of turn, page 74
You can specify the speed at which the vessel should turn during a heading change.
Setting heading limits, page 75
You can set warning and alarm limits for heading deviation.
Setting position limits, page 76
You can set warning and alarm limits for position deviation.
Selecting the controller gain level, page 76
There are three controller gain levels (low, medium and high) that can be set for automatic
heading and position control. The restoring force is proportional to the position/heading deviation
multiplied by the gain factor.
Selecting minimum power heading, page 77
When the heading is under automatic control, you can make the vessel move onto and maintain
a heading that requires the minimum power for the current environmental conditions (minimum
power heading).
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Selecting the thrust allocation mode, page 77

Thrust allocation can be performed in many different ways. The configuration and operational
requirements of the vessel determine the thrust allocation modes that are implemented in the
system, as well as the criteria for automatic mode changes.
Setting date and time, page 78
The date and time set for the system will be reflected in relevant places — alarms, views, status
reports, etc.
70 407271/D
Selecting the joystick thrust

There are two settings for joystick thrust: full and reduced. When full thrust is selected,
the maximum force available from all thrusters can be used. When reduced thrust is
selected, the maximum applied thruster force for axes that are under joystick control is
limited to about 50 % of the available force from all thrusters.
Procedure
1 To switch between the two joystick thrust settings, press the JOY. FULL THRUST
button twice within four seconds.
The button is steadily lit when full thrust is selected and unlit when reduced thrust is
selected.
or
2 Press the JOYSTICK SETUP button to open the Joystick Settings dialog box.
3 Select full or reduced thrust as required.
Related topics
Joystick settings dialog box, page 209
Selecting joystick precision

The applied thruster force for axes that are under joystick control can be scaled in various
ways. This scaling gives a different response to movement of the joystick, depending on
the configuration and operational requirements of the vessel.
Procedure
2 Select high, general or low speed as required.
Related topics
Enabling wind compensation

Joystick control can be combined with wind compensation.
Context
When wind compensation is enabled, the system automatically compensates for the wind
forces acting on the vessel by providing the thrusters with the necessary extra thrust in
407271/D 71
the appropriate direction. The vessel will react much more quickly to sudden changes in
wind speed and direction.
When position-reference system measurements are available the system will calculate the
unknown forces, including sea current and wave forces, which are acting on the vessel
(collectively referred to as “current”). The system performs automatic compensation for
these calculated “current” forces.
“Current” is calculated while a position-reference system is accepted. The calculated
value will freeze when no position-reference system is accepted, and will be set to zero
in Standby mode.
Procedure
2 Select the required axes (surge, sway, yaw) for which the wind (environmental)
compensation should apply.
Related topics
Selecting the vessel rotation centre

When the vessel is under Joystick or mixed Joystick/Auto control, it is possible to specify
that the vessel should rotate about the fore or aft part of the vessel instead of midships
which is the default. This feature can be useful when leaving or approaching another
vessel or a fixed structure such as a quay.
Prerequisites
During Joystick mode you can change the rotation centre between fore, midships and
aft, i.e. the rotation centre is selected and in use. You can also select any of the other
predefined rotation centres, but they will only be in use when the position is under
automatic control.
During Auto Position mode you can change the rotation centre between all predefined
or manually entered rotation centres, but only when the position and heading modes
are PRESENT.
Context
The location of the Fore Pivot is calculated to be the point where aft thrusters are mainly
used to rotate the vessel. To fulfil this, the location of the Fore Pivot is dynamically
calculated with respect to the selected draught and the enabled thrusters. Similarly, the
Aft Pivot is calculated to be the point where bow thrusters are mainly used to rotate the
vessel. This means that the location of the Fore or Aft rotation centre might change if a
thruster is enabled or disabled.
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• With Fore Pivot selected, the rotation centre is located ahead of midships. Thrusters
located aft will be the significant contributors when turning the vessel. Note that
bow thrusters might be used to compensate for heading/position deviation in mixed
Joystick/Auto control.
• With Midships selected, the rotation centre is located midships on the vessel.
Thrusters fore and aft will be used to turn the vessel.
• With Aft Pivot selected, the rotation centre is located aft of midships. Thrusters
located at the bow will be the significant contributors when turning the vessel. Note
that aft thrusters might be used to compensate for heading/position deviation in mixed
Joystick/Auto control.
Note
In Joystick mode the vessel will not pivot accurately around the selected rotation centre,
since the system will not use data from the position-reference systems for the vessel
axes under joystick control.
Vessel movement with For example, when manoeuvring alongside a quay which
Fore Pivot rotation lies to starboard, you may want to move the stern of the
centre selected vessel towards the quay without the bow moving out, while
at the same time applying a small thrust to starboard. This
would be difficult when using the centre of the vessel as the
rotation centre. By selecting the fore of the vessel as the
rotation centre, you can easily use the joystick both to turn
the vessel counter-clockwise about the bow and to move
the vessel to starboard.
A suitable configuration of thrusters must be enabled. For
example, if you want the vessel to rotate about the aft of the
vessel, there must be at least one thruster enabled forward
of the vessel centre.
In Joystick mode you can select a rotation centre for use in
an automatic mode, but the selection will not be effective
until an automatic mode is selected.
If thrusters are disabled so that the selected rotation centre
no longer can be applied, the rotation centre in use will be
changed automatically.
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Vessel rotating around With mixed Joystick/Auto control the system will,
the position setpoint if possible, use the Fore, Centre (midships) or Aft
rotation centre, but the position setpoint will be
the operator-specified rotation centre. The position
controller may then force the vessel to rotate around the
operator-specified rotation centre.
For example, assume that the vessel is under Auto conttrol
with an operator-specified rotation centre different from
Fore, Centre (midships) or Aft. The operator then disables
automatic yaw control and uses the joystick to command
the vessel to rotate counter-clockwise. The joystick control
in yaw will try to rotate the vessel around the centre of the
vessel, but the position control will work in such a way as
to keep the vessel at its position setpoint. The vessel may
then be forced to rotate around the position setpoint.
Procedure
1 Click Settings→(Control) Rotation Center.
2 Use the Rotation Center dialog box to select the required rotation centre.
Related topics
Rotation center dialog box, page 265
Changing the rate of turn

You can specify the speed at which the vessel should turn during a heading change.
Prerequisites
This rate of turn applies only when the yaw axis is under automatic control.
Context
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.
Procedure
1 Click Settings→Rate Of Turn.
2 Enter the value or use the spin box to adjust the speed.
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Note
The rate of turn can also be set from Positioning→Heading , Rate Of Turn tab. The
content of the two dialog boxes is the same and the changes made in one of them
is immediately replicated in the other.
Related topics
Heading dialog box - Rate of turn page, page 193
Setting heading limits

You can set warning and alarm limits for heading deviation.
Context
When the vessel's heading differs from the heading setpoint by more than the warning
limit, an audible signal is given and a warning message is shown. When the vessel's
heading differs from the heading setpoint by more than the alarm limit, an audible signal
is given and an alarm message is shown.
Warning and alarm limits for heading deviation are active only when the yaw axis is
under automatic control, i.e. the system is in a mode where automatic heading control is
possible.
When active, the heading limits are shown as black lines — dashed for warning limit
and solid for alarm limit — on the heading deviation shown in the heading area of the
display. When inactive, the heading limits are shown as grey lines.
The heading limits are inhibited during a requested change in heading, until it is
completed.
Procedure
1 Click Alarms→Position and heading.
2 In the Alarm Limits dialog box enter the values for warning and alarm limits.
Related topics
Alarm limits dialog box - Position page, page 146
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Setting position limits

You can set warning and alarm limits for position deviation.
Context
When the vessel's position differs from the position setpoint by more than the warning
limit, an audible signal is given and a warning message is shown. When the vessel's
position differs from the position setpoint by more than the alarm limit, an audible signal
is given and an alarm message is shown.
Warning and alarm limits for position deviation are active only when the surge and/or
sway axis is under automatic control, i.e. the system is in a mode where automatic
position control is possible.
When active, the position limits are shown as black circles — dashed for warning limit
and solid for alarm limit — on the position deviation shown in the position area of the
display. When inactive, the position limits are shown as grey circles.
The position limits are inhibited during a requested change in position, until it is
completed.
Procedure
1 Click Alarms→Position and heading.
2 In the Alarm Limits dialog box enter the values for warning and alarm limits.
Related topics
Selecting the controller gain level

There are three controller gain levels (low, medium and high) that can be set for
automatic heading and position control. The restoring force is proportional to the
position/heading deviation multiplied by the gain factor.
Prerequisites
The gain level cannot be changed if Green control mode is selected.
Procedure
1 Click Settings→(Control) Gain to open the Gain dialog box.
2 In the Gain Level group box select either one of the predefined high, medium or
low gain, or select Customized and give a required value for each of the surge,
sway and yaw directions.
76 407271/D
Result
Medium gain level is the normal selection. Selecting a high gain level will cause more
vessel movement in order to keep the position.
Related topics
Selecting minimum power heading

When the heading is under automatic control, you can make the vessel move onto and
maintain a heading that requires the minimum power for the current environmental
conditions (minimum power heading).
Prerequisites
This function should be used with care as it may cause large changes of vessel heading
due to changing environmental conditions, such as wind and current.
Procedure
1 Click Positioning→Heading.
2 In the Heading dialog box select System Selected as Strategy.
Result
This heading will change continuously according to the prevailing environmental forces
acting on the vessel.
Related topics
Selecting the thrust allocation mode

Thrust allocation can be performed in many different ways. The configuration and
operational requirements of the vessel determine the thrust allocation modes that are
implemented in the system, as well as the criteria for automatic mode changes.
Prerequisites
For some of the modes a sufficient number of thrusters must be enabled to select the
mode. The system will automatically switch back to the default thrust allocation mode
(normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY
status.
407271/D 77
Context
The configuration and operational requirements of the vessel determines the thrust
allocation modes that are implemented in the system, as well as the criteria for the
automatic mode switch. Details of the available thrust allocation modes are provided
with the configuration information for each vessel.
Depending on the operation mode, illegal thrust allocation modes are unavailable in
the Thrust Allocation dialog box.
Procedure
1 Click Thruster→Allocation mode to open the Thrust Allocation dialog box.
2 Select the required mode from the list of available options.
If you select MANUAL FIX mode, continue with defining the settings:
3 Click Thruster→Allocation settings to open the Allocation settings dialog box.
4 Enter the fix direction of azimuth thrusters/rudders.
Related topics
Thrust allocation dialog box, page 289
Allocation settings dialog box, page 149
Setting date and time

The date and time set for the system will be reflected in relevant places — alarms, views,
status reports, etc.
Prerequisites
Setting the system date and time can only be performed by the “Chief” user.
Procedure
1 Click System→(Date/Time) Set Date/Time to open the Set System Date/Time dialog
box.
2 Enter the date and time or use the spin boxes to select a value.
Related topics
Set System Date/Time dialog box, page 283
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Customizing preferences
Topics
Selecting display palette, page 80
Three sets of display colours (palettes) are available for day or night use. The palette selection
from the operator station in command can be applied on all operator stations in the system, or the
palette selection can be set individually on each operator station.
Adjusting the panel light, page 80
You can set the required light intensity for the indicator (status) lamps on the operator panel, and
for the background lamps of the actual buttons.
Selecting presentation units, page 81
You can select which set of units to use for the display and entry of values. If configured for your
system, you can also specify presentation units other than those available in the list.
Preselecting sets of views, page 82
You can preselect sets of views and panes to be shown in the two working areas and link them
to buttons on the side bar.
Printing system information, page 83
You can print some system information for the purposes of reporting, logging, investigating, etc.
407271/D 79
Selecting display palette

Three sets of display colours (palettes) are available for day or night use. The palette
selection from the operator station in command can be applied on all operator stations in
the system, or the palette selection can be set individually on each operator station.
Prerequisites
In order to change the display palette simultaneously on all operator stations, the
Independent palette should be selected.
In order to change the display palette on a single operator station, the Independent palette
should not be selected.
Procedure
• Click View→(Palette) Day, Dusk or Night to choose the required palette.
or
On the side bar, Click Day, Dusk or Night to choose the required palette.
Adjusting the panel light

You can set the required light intensity for the indicator (status) lamps on the operator
panel, and for the background lamps of the actual buttons.
Procedure
1 Click View→(Panel) Light Configuration to open the Panel Light Configuration
dialog box.
2 Select the required light intensity for the indicator lamps and the background lamps
for the available palettes. Available light intensities are bright, normal, dimmed,
very dimmed and off.
Related topics
Panel Light Configuration dialog box, page 217
80 407271/D
Selecting presentation units

You can select which set of units to use for the display and entry of values. If configured
for your system, you can also specify presentation units other than those available in
the list.
Procedure
1 Click View→(Presentation) Units.
2 Click the Details button to open the extended version.
3 Use the scroll bar to the right to find the presentation unit type you want to edit
and select it.
It is possible to sort the unit list alphabetically by clicking the column heading.
Click once for ascending order, twice for descending order and three times to have
the default order (no alphabetical sorting) shown.
4 Select one of the predefined sets, for example metric or imperial, or click User
Definable to define a new set.
5 To define a new set click the Display Format column for the respective presentation
unit type.
A list box containing all the display formats for this type is opened.
6 Select the required display format from the options shown in the list box, and the
list box is closed.
7 Repeat steps 2 to 4 if you want to edit the display format for another presentation
unit type.
8 Click OK.
Related topics
Presentation units dialog box, page 236
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Preselecting sets of views

You can preselect sets of views and panes to be shown in the two working areas and link
them to buttons on the side bar.
Context
When you click one of these buttons, the preselected set of views and panes is shown.
Any settings defined in the respective view using the view-control dialog boxes will be
saved and viewed together with the predefined configuration of views and panes.
Procedure
1 From the side bar click Preselected→Settings to open the Preselect dialog box.
2 Select the views and panes in the two working areas.
3 Click one of the numbered buttons at the bottom to record the selection.
4 Click the Configure names button at the top to give a name to the new selection.
5 Click the Keyboard button and enter the new name.
6 Click OK, OK and Close.
The new name appears on the side bar.
Related topics
Preselect dialog box, page 234
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Printing system information

You can print some system information for the purposes of reporting, logging,
investigating, etc.
Context
There are three types of printouts:
• the current screen, including top bar, dashboard, side bar and both working areas
• system report, including major hardware unit
• status page, including system setup, thruster setup, reference systems, etc.
Procedure:
Printing a screen capture
You can print a hard copy of the current display picture. The whole screen picture is
printed on a general-purpose printer connected to an operator station.
• Press the HARDCOPY button.
If you want to change any printer options, the standard Microsoft Windows dialog box is
used:
• Click System→(Printer settings) Hardcopy printer.
Printing a status report
It is possible to produce a status page where vital data from major hardware units in the
system are listed. Only units that are running will be listed.
• Click Tools→System report.
The system report will appear in an Internet browser window.
Printing a status page
The status page is printed on an event printer and can be printed immediately or
cyclically.
• Click System→(Printer settings) Print status.
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Transferring command
Topics
Command control, page 85
The system can be controlled from any operator station, operator terminal or wing terminal
connected to the system.
Taking command, page 85
Although all available information about the system is provided at each operator station, operator
terminal and wing terminal, only one operator station, operator terminal or wing terminal can be
in command of the system at a time.
Giving command, page 86
An operator terminal or operator station that has command can offer to give command to an
operator station, an operator terminal or a wing terminal.
Requesting command, page 87
The procedure can only be used if allowed by the system configuration.
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Command control
The system can be controlled from any operator station, operator terminal or wing
terminal connected to the system.
After the system has been started and its application software has loaded, all connected
operator stations, operator terminals and wing terminals are automatically set in Standby
mode.
Operator terminals and operator stations have TAKE and GIVE buttons. Wing terminals
only have TAKE buttons. At the operator station, operator terminal or wing terminal
that is in command, the TAKE button is lit.
If an operator station is in command, then Main:DP is shown in the top bar on the display.
There are two methods for transferring command between the operator stations, operator
terminals and wing terminals that are connected to the same controller PS group:
• taking command
• giving command
An operator or terminal can always take command from an other station, remote terminal
or a wing terminal.
A wing terminal cannot take command. Command of a system can only be transferred to
a wing terminal using the give command.
Taking command
Although all available information about the system is provided at each operator station,
operator terminal and wing terminal, only one operator station, operator terminal or wing
terminal can be in command of the system at a time.
Prerequisites
The TAKE button on the operator station in command is lit. No buttons in the COMMAND
group are lit on any other operator stations.
Context
In the following example, both DP-OS1 and DP-OS2 are connected to the main
controller PS group. DP-OS1 currently has command of this group, and command
is to be transferred to DP-OS2.
Procedure
• On DP-OS2 press the TAKE button twice within four seconds.
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Result
The TAKE button starts to flash and becomes steadily lit when the operator station has
taken command.
Giving command
An operator terminal or operator station that has command can offer to give command to
an operator station, an operator terminal or a wing terminal.
Procedure
1 On the operator terminal or operator station that has command, press the GIVE
button.
• The message Giving Command is shown, an audible signal is given and the TAKE
button starts to flash.
• At all other terminals and stations, the message Receiving Command is shown, an
audible signal is given and the TAKE button starts to flash.
2 To accept command at the other operator terminal or operator station, press the
TAKE button twice within four seconds.
• Command is transferred to the other terminal or station, the message Command
obtained is shown, the audible signal is silenced and the TAKE button becomes
steadily lit.
• At the operator terminal or operator station from which command was given, the
message Not in Command any more is shown, the audible signal is silenced, and
the TAKE button stops flashing and becomes unlit.
• At all other terminals and stations, the message Command Ended is shown, the
audible signal is silenced, and the TAKE button stops flashing and becomes unlit.
3 If the TAKE button is pressed at the terminal or station, giving command, or the
“Give Command” times out, the message Giving Command Ended is shown, the
audible signal is silenced, and the TAKE button stops flashing and becomes steadily
lit. At all other terminals and stations, the message Receiving Command Ended
is shown, the audible signal is silenced, and the TAKE button stops flashing and
becomes unlit.
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Requesting command
The procedure can only be used if allowed by the system configuration.
Procedure
1 On the requesting operator station press the TAKE button.
The GIVE buttons on both the requesting operator station and the operator station
in command start to flash, and an audible signal is given on the operator station
in command.
2 On the operator station in command press the GIVE button. The command is
transferred.
If you press TAKE on the operator station in command, the request will be cancelled.
If no action is taken within 60 seconds, the request will be cancelled automatically.
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System service procedures
Topics
Testing the panel, page 89
The panel has a function for testing the buttons, indicators and the audible signal.
Stopping and restarting the operator station, page 89
Restart the operator station if the system is not performing as required, for example, if display
views are not updated (i.e. numerical values, heading and position do not change) or the operator
station does not respond to operator input.
Resetting controller process stations, page 90
You can reset a selected controller process station (PS) for example in the event of a software
problem. To retrieve the default settings, all controller process stations must be reset.
Getting remote support, page 92
K-Pos DP is prepared for the remote support service using a communication software package
installed in each operator station.
Calibrating the joystick, page 94
Calibration of the joystick ensures that a certain deflection of the joystick corresponds to a specific
thrust, depending on joystick settings.
System architecture, page 95
K-Pos DP consists of one or more operator stations (OS) and one or more process stations (PS).
A history station (HS) may also be included.
System monitoring, page 98
Functions are available for monitoring the status of the K-Pos DP operator stations, process
stations and IO system.
88 407271/D
Testing the panel

The panel has a function for testing the buttons, indicators and the audible signal.
Context
You can test the panel status lamps, alarm lamps and the audible signal at any time.
However, system operation is blocked while the panel test is in progress. It is therefore
recommended to perform the test in Standby mode or before taking command at the
operator terminal.
The panel test is automatically terminated if no buttons are pressed within a preset time
limit.
Procedure
1 Click View→(Panel) Lamp Test to open the Panel Lamp Test dialog box.
2 Click the Start Lamp Test button.
• The message The Lamp Test has started is shown (in the dialog box).
• All the panel button status lamps should be lit.
• All the lamps in the ALARMS button group should be lit.
• An audible signal should be given.
• The text on the Start Lamp Test button changes to End Lamp Test.
3 Press SILENCE to stop the audible signal.
4 Press, in turn, each button that has a status lamp.
Each status lamp should become unlit when its associated button is pressed.
5 To stop the test, Click the End Lamp Test button.
Related topics
Panel Lamp Test dialog box, page 216
Stopping and restarting the operator station

Restart the operator station if the system is not performing as required, for example,
if display views are not updated (i.e. numerical values, heading and position do not
change) or the operator station does not respond to operator input.
Prerequisites
Stopping/restarting should be performed on one operator station at a time to facilitate
operation and monitoring of K-Pos DP from other operator stations.
407271/D 89
Context
The K-Pos DP controller cabinet and operator stations are usually left with the power
on and with the system in Standby mode.
It is recommended to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new
operation. A sequential restart of all the units with an interval is also recommended.
Placement and naming of switches used in system start-up and shut-down procedures
will vary depending on the hardware installed.
If the system has been shut down, use the procedure in the System Maintenance
Information document for your vessel to restart the system.
Procedure
1 Click System→Stop/restart to open the Stop/Restart dialog box.
2 Select the required option.
Related topics
Stop/restart dialog box, page 288
Resetting controller process stations

You can reset a selected controller process station (PS) for example in the event of a
software problem. To retrieve the default settings, all controller process stations must
be reset.
Prerequisites
Before resetting the controller process station in a single-computer system, you must
ensure that K-Pos DP does not have control of the vessel’s propulsion system.
Before resetting a controller process station in a dual or triple-redundant system you
should ensure that another controller process station is operational and is selected
as the master computer.
Context
It is recommended to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new
operation. A sequential restart of all the units with an interval is also recommended.
If the vessel is not under control by K-Pos DP , you can reset all K-Pos DP controller
process stations simultaneously. During normal operation the K-Pos DP controller
process stations receive the same input from sensors, position-reference systems and
thrusters, and perform the same calculations.
90 407271/D
The best way to ensure that errors are deleted from the K-Pos DP controller process
stations is therefore to reset all of them. To retrieve the default settings, all K-Pos DP
controller process stations must be reset.
Procedure
1 Ensure that K-Pos DP is in Standby mode and that no thrusters are enabled.
2 Click System→Reset controller PS to open the dialog box.
3 Select all or individual controller process stations to be reset.
4 Click OK to confirm.
Result
• Until at least one controller process station is running, a dialog box containing the
following message is shown on all operator stations:
No network response from the DP Controller PS
• When at least one controller process station is running, a message is shown on all
operator stations:
The DP Controller PS is now responding
• K-Pos DP is in Standby mode with default settings.
• The following message is shown in the Event List view for each controller process
station:
Equip <yy/mm/dd hh:mm:ss>Alarm <DpPUx>: Station is operational
(x refers to controller PS A, B or C).
Further requirements
Select the master controller process station using the Redundant Stations dialog box.
Related topics
Reset controller PS dialog box, page 264
Redundant Stations dialog box, page 245
407271/D 91
Getting remote support

K-Pos DP is prepared for the remote support service using a communication software
package installed in each operator station.
Prerequisites
You must be logged in as ‘Chief’ or ‘Service’ to be allowed to use remote support.
Context
Online support from Kongsberg Maritime is available through the Remote support
service using secure communication facilities. The service engineer at the Support
Centre can view the same operator station information as the operator on site. Log files
and databases can be transferred to the Support Centre for further analysis, and updates
may take place on the system on site with the restrictions imposed by the operational
guidelines and the classification authorities.
Procedure
1 When requested by the Support Centre to give them access to the operator station,
click Tools→Remote support to open the dialog box.
92 407271/D
2 Click I understand and wish to continue.

The next dialog box is open:
3 Click Connect and wait for connection
4 Click Open Chat and you can communicate with the service engineer in the chat
window.
Related topics
Change User dialog box, page 156
407271/D 93
Calibrating the joystick

Calibration of the joystick ensures that a certain deflection of the joystick corresponds to
a specific thrust, depending on joystick settings.
Prerequisites
Calibrating the joystick can only be performed by the “Chief” user, and only when
the system is in Standby mode.
Context
It may be necessary to calibrate the joystick when:
• New system hardware has been installed or parts of the system hardware have been
changed.
• New system software has been installed or the system software has been reinstalled.
Procedure
1 Click Tools→Calibrate joystick to open the Joystick Calibrate dialog box.
A figure indicating the joystick axes is shown in the dialog box.
2 Set the joystick in ZERO position and click the In Zero Position button.
A red mark appears in the zero position on the figure.
3 Move the joystick for MIN/MAX in the three axes to register joystick swing.
Black lines appear in the figure to indicate joystick swing in all three axes.
4 To change the joystick deadband, click the Deadband button.
The Deadband dialog box is opened.
5 Enter the required deadband in all three axes by entering values or by using the
up/down arrows and then click OK.
6 Click OK in the Joystick Calibrate dialog box to complete the calibration.
A message, stating that the new calibration values will be saved, is shown.
7 Click OK.
The joystick is calibrated.
Related topics
Joystick Calibrate dialog box, page 208
94 407271/D
System architecture
K-Pos DP consists of one or more operator stations (OS) and one or more process
stations (PS). A history station (HS) may also be included.
The K-Pos DP control software is implemented in one, two or three process stations
(DpPS) (the Main controller PS group) depending on the redundancy level of the
system. The process stations are implemented in computers located in the K-Pos DP
controller cabinet.
The DpPS in the main controller group are interconnected via a dedicated redundancy
net (RedNet).
Communication between operator stations, history stations and process stations is via
a single or dual communication net (Net A and Net B).
Communication with thrusters and sensors is performed by the IO system, which is
an integrated part of the DpPS. If additional IO is required for sensors or thrusters,
additional dedicated IO process stations can be implemented.
The process stations themselves provide no permanent storage of programs and data.
When a process station starts, all its programs and data are loaded from its PS servers,
which are located either on one or more operator stations or in the flash memory of
the process station itself.
Operator stations
The following standard names are used to identify the operator stations and history
stations in K-Pos DP:
OS name OS description
DP-OS1 Main Operator Station
DP-OS4 Fire Backup Operator Station
DP-OS6 Stand-alone Simulator Operator Station
DP-HS1 Main History Station
cPos-OS1 cPos Operator Station
cPos-OS2 cPos Operator Station
cJoy-OT1 cJoy Operator Terminal
cJoy-OT2 cJoy Operator Terminal
WT1 cJoy (cWing) Wing Terminal
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OS name OS description
Process stations
The process stations are implemented in Remote Control Units (RCU). The RCU unit
contains a real-time single board computer and IO interfaces in the same unit.
In single systems, the DP controller cabinet contains a single DpPS.
In dual systems, the DP controller cabinet contains two DpPSes which operate with
a master/slave relationship. Switching between master and slave can be performed
manually, or the switching can be performed automatically by the system.
In triple systems, the DP controller cabinet contains three DpPSes. The concept of
majority voting is used to detect and isolate faults in the sensors and in the system itself.
A WinPS is a Process station that runs on an operator station computer, as opposed to a
standard process station. A WinPS provides full PS functionality, except that it cannot
communicate with the IO system.
WinPSes are used for development purposes and in simulators.
The following standard names and numbers are used to identify process stations and
redundancy groups in K-Pos DP.
Redundancy Redundancy type PS description

group
DpMain Single, DpDual or Main Controller PS A
DpTriple Main Controller PS B
Main Controller PS C
DpM_IO1 Single, DpDual or Main Input/Output 1
DpTriple
DpM_IO2 Single, DpDual or Main Input/Output 2
DpTriple
DpM_Sim Single Main - Simulator (WinPS)
DpM_Vrm Single Main - Built-in Trainer - Vessel Reference
Model (WinPS)
DpFS_Vrm Single Field Simulator - Vessel Reference Model
(WinPS)
DpBackup Single Backup DP Controller PS A
DpB_IO1 Single Backup Input/Output 1
DpB_IO2 Single Backup Input/Output 2
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Redundancy Redundancy type PS description

group
DpB_Sim Single Backup - Simulator (WinPS)
DpB_Vrm Single Backup - Vessel Reference Model (WinPS)
The Vessel Reference Models run in WinPS and provide simulator and built-in trainer
functions.
IO system
The IO system provides the communication interface for exchange of IO signals between
the field devices (thrusters and sensors) and the process station.
The main elements of the IO system are:
• IO drivers
IO drivers are responsible for the communication with the field device. The IO driver
provides conversion between field values and IO raw values.
The following driver types are supported:
– RBUS for discrete analog and digital IO
– NetIO for communication between process stations
– Dedicated sensor and interface drivers for serial line devices such as Artemis,
GPS, Fanbeam and HPR
– ComAs for generic serial line IO
• IO blocks
An IO block represents a group of identifiable IO signals from an IO device in the
field. For example:
– For IO cards belonging to the RBUS driver, an IO block represents an IO card in
the IO rack.
– For NetIO communication between process stations, an IO block may represent all
the signals related to a particular sensor or thruster.
• IO points
IO points are the connection points for IO signals. An IO point may provide signal
conditioning elements for conversion between the IO raw value on the driver side and
the engineering value on K-Pos DP side.
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System monitoring
Functions are available for monitoring the status of the K-Pos DP operator stations,
process stations and IO system.
During normal operation you can view:
• the operational status of the operator stations, history stations and process stations
• information and status indications for every IO driver, IO block and IO point
configured in the system
The following monitoring functions are available:
• status for the operator stations, history stations and process stations in your system,
using the Equipment dialog box
• status for all process stations in the system, using the Station Explorer dialog box
• overview for all IO drivers, IO blocks and IO points, using the IO Manager dialog box
• information for selected IO points using the IO Point Browser dialog box
• information for each IO block, related to each IO point and its contents, using the
IO Terminal Block dialog box
• information for selected DP PS serial ports using the Properties — DpPs Serial port
dialog box
Note
Many of the features provided by these dialog boxes are related to configuring the
system. These features require OS Configuration Mode and/or PS Configuration Mode
and therefore are not described in this manual. This manual only describes features that
are available in normal operation mode.
Related topics
Equipment dialog box, page 171
Station Explorer dialog box, page 285
IO Manager dialog box - IO Configurator page, page 197
IO Point Browser dialog box, page 199
IO Terminal Block dialog box, page 202
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Message system
Message system
Topics
System diagnostics, page 100
Operational checks, page 100
Types of messages, page 101
Alarm states, page 103
Acknowledging messages, page 104
Alarm lamps, page 105
Messages on the printer, page 106
Message explanations - online help, page 107
Operator pop-up messages, page 108
Critical system messages, page 109
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System diagnostics
The following methods are used for fault detection:
• Built-In System Test (BIST) that performs a comprehensive system test at power-on.
• Built-In Test Equipment (BITE) that continuously checks for internal system faults
when the system is running.
• Additional self-checking facilities for system components such as I/O units.
• Supervision of the controller computer fan and temperature.
• Comparison of data with preset maximum and minimum limits.
• Consistency checking of input measurements.
• Supervision of serial lines.
Any faults are reported.
Operational checks
The following checks are continuously carried out during system operation:
• Detection of possible degraded performance of the system (for example, thruster
not ready, insufficient thrust, demand reduced by blackout prevention, position out
of limits, etc.).
• Logical checking of information (for example, taut wire, difference between measured
and expected wire length).
• Comparison of data with preset maximum and minimum limits.
• Comparison of received data with expected values calculated by the mathematical
model.
• Comparison of thruster setpoint and feedback signals. Differences exceeding preset
limits are handled as a fault.
• Consistency checking between similar sensors.
In dual- and triple-redundant systems, comparison checks are also done for
the position/heading setpoints and estimates, reference-system origin, used
position-reference systems, target transponders and other sensors.
Detected faults and differences are reported to the operator, enabling the appropriate
operational actions to be taken and, if necessary, initiation of relevant repair procedures.
All messages are presented as text in dedicated display areas. Audible signals and
flashing panel lights are used according to the message priority. The operator can select a
view showing all current messages in the system at any time. Audible signals may be
silenced without acknowledgement of the message. Unacknowledged messages have a
flashing marker in the display areas.
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Types of messages
There are four categories of messages, depending on their severity:
• emergency (audible signal and flashing light)
• alarm (audible signal and flashing light)
• warning (audible signal and flashing light)
• caution
Emergency, alarm and warning messages must be acknowledged by the operator.
• Emergency messages
Emergency messages are reported in response to critical system faults.
All emergency messages require immediate action by the bridge team. They indicate
immediate danger to human life or to the vessel and its machinery if no action is taken.
• Alarm messages
Alarm messages are reported when conditions are detected that critically affect the
capability or performance of the system.
All alarm messages require immediate attention and must be critically examined to
determine any necessary action by the bridge team.
• Warning messages
Warning messages are reported when conditions that are not immediately hazardous
but could become so if no forward-looking decision is made or action taken by the
bridge team.
• Caution messages
Caution messages are reported on conditions that does not warrant an emergency,
alarm or warning but still requires particular attention from (and special consideration
by) the bridge team. These conditions have no serious effect on the performance
of the system.
Emergency, alarm and warning messages are accompanied by the ALARM lamp in the
ALARMS button group flashing until you acknowledge the message.
Emergency, alarm and warning messages are accompanied by an audible signal

which continuesly repeats until you acknowledge the message or the condition is
rectified/inactive. There are no audible signals associated with caution messages.
If the system tests do not report the same message within a timeout period (usually
20 seconds), the message becomes inactive. Inactive emergency, alarm and warning
messages must be acknowledged before they are removed from the top bar and the
Dynamic Alarm Page. They will remain shown with the state Normal in the Dynamic
Event and Historic Event pages.
Explanations can be obtained for any of the messages generated by the controller process
stations.
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Related topics
Presentation of messages
System messages are colour coded:
• Emergency messages are shown on red background.
• Alarm messages are shown on red background.
• Warning messages are shown on orange background.
• Caution messages are shown on yellow background.
The messages are presented in two different displays: on the top bar and in the Event
List view. The presentation of events is subjected to filtering. Only those events that
match all attributes specified in the filter are included in the presentation. System-defined
filters, which cannot be changed by the operator, are provided.
• The alarm presentation on the top bar always shows the most recent emergency, alarm
or warning message that has not yet been acknowledged.
• The Event List view contains a list of all the current system messages. Press the
ALARM VIEW button to show the Event List view.
Related topics
Date and Time dialog box, page 167
Enabling the first position-reference system, page 49
Event List view, page 319
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Message system
Alarm states
Digital alarms are either “Active” (the underlying condition is present) or “Inactive” (the
underlying condition is no longer present).
Inactive digital alarms are presented with the status “Normal” on all three pages of the
Event List view. Inactive, acknowledged digital alarms are presented with the status
“Void” on the Dynamic Event Page and the Historic Event Page. Active digital alarms
are presented with the state “High” on all three pages of the Event List view.
For alarms on analog terminals, however, the “Active” state is further refined by means
of alarm limits. The following diagram shows the relation between the alarm limits
and the validity of alarms states.
An analog alarm is in the Normal/Void state when the terminal value is within the High
and Low alarm limits. This means that the alarm is Inactive.
The alarm becomes Active when the terminal value exceeds the High/Low limits.
Any change in the alarm state is indicated in the Status cell for that message in the
Event List view.
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Acknowledging messages
You can acknowledge either all visible messages or individual messages selected on
the Event List view.
When a message has been acknowledged, and the message is reported as inactive by
all the controller process stations, it is removed from the message list. If this results in
“gaps” in the list shown in the Event List view, you can remove these “gaps” by clicking
Refresh on the Event List shortcut menu, by clicking the refresh button on the toolbar, or
by closing and reopening the Event List view.
You can acknowledge messages in the following ways:
• Press the ACK button.
• Click the alarm icon on the top bar.
• Click the button in the tool bar of the Event List view.
• Place the cursor in the Event List view, click the right trackball button to open the
following shortcut menu, and click Ack All.
You can acknowledge either all visible current messages in the Event List view or
a selection of messages.
Acknowledging all messages in the Event List view

Procedure
1 Press the ALARM VIEW panel button to open the Dynamic Alarm Page of the Event
List view.
2 Press the right trackball button to open the shortcut menu, and then click Select All.
The font of the message texts changes to bold.
3 Press the ACK button or click Ack on the shortcut menu.
All visible messages are acknowledged.
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Message system
Acknowledging a selection of messages in the Event List view

Procedure
1 Press ALARM VIEW to open the Dynamic Alarm Page of the Event List.
2 Select a group of consecutive messages by dragging the cursor over the asterisks
in the left column.
The font of the message texts changes to bold.
3 Press the ACK button or click Ack on the shortcut menu.
The selected messages are acknowledged.
Silencing the audible signal

You can press the SILENCE button at any time to silence the audible signal (without
acknowledging the emergency or alarm message that caused it). The audible signal
will sound again after 30 seconds until the problem has been rectified or the alarm
acknowledged.
An audible signal can normally be silenced from any of the operator stations in question.
However, system alarms can only be silenced from the originating operator station.
For example, when an operator station becomes “not communicational” other operator
stations may detect the situation and notify it by means of an audible signal. The audible
signal must be silenced on every operator station that notifies the situation.
Alarm lamps
There are three alarm lamps:
• POWER
This lamp is lit green as long as the power supply to the operator panel is OK.
• FAULT
This lamp is lit red when the contact between the operator panel and the operator
station computer is lost, else it is off.
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Note
This lamp does not indicate failures in the controller process station(s). If the
operator station loses contact with the controller process station, a message is shown.
• ALARM
This lamp flashes in response to a software-generated emergency, alarm or warning

message from the operator station computer; for example, heading or position
deviation beyond limits or sensor error. These messages are generated by the
controller process station and do not indicate failures in the operator station. A
flashing lamp indicates unacknowledged messages. A steadily lit lamp indicates that
all messages are acknowledged. The lamp will become unlit three seconds after the
last emergency, alarm or warning status has been removed.
Indications of errors related to the ALARMS button group

Errors that are related to the ALARMS button group (and subsequently the indication of
system events) are indicated in the following ways:
• If the ALARMS button group stops functioning so that the lamps and audible signal do
not work, the message Operator panel error — No audible and visual Alarms Indicators
is shown. The dialog box is alternately shown (for three seconds) and hidden (for
seven seconds). The message will not be shown during the first minute after K-Pos
DP has been started.
• If the ALARMS button group loses its power, the lamps in the ALARMS group become
unlit, and an audible signal is given.
• If the ALARMS button group has power, but does not get contact with the OS computer
within four minutes after K-Pos DP has been started, an audible signal is given and
the FAULT and ALARM lamps will become lit.
• If the ALARMS button group loses contact with the operator station computer, an
audible signal is given and the FAULT and ALARM lamps will become lit.
Messages on the printer

When an emergency, alarm or warning message reported by the system becomes
inactive or is acknowledged, it is printed on the event printer connected to the operator
station. The print-out frequency depends on the installed printer solution (for example:
immediately, one message at a time, when a batch of messages fills a whole page, or on
request).
The format of the printed messages is the same as for the Event List view, except that
each message is preceded by a sequence number. Each new message is given a new
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Message system
sequence number. Whenever a message changes state, it is printed again with the same
sequence number.
Related topics
Event Printer dialog box, page 181
Message explanations - online help

Using the Help system, explanations can be obtained for any of the messages generated
by the controller process stations. Explanations of command, equipment and internal
messages are not available.
The Help system can be opened in the following ways:
• When a message is not acknowledged and is shown on the top bar — click the .
• When a message is shown in the Event List view, point to the message and press the
right trackball button. A shortcut menu is shown. Click Help on this menu. The
System Messages Help is opened with the relevant message explanation shown.
• Click System→Messages. The System Messages Help is opened. This Help system
allows you to select the required message from a list of Contents. You can also Search
for the required message by searching for words or phrases that are contained in
the message or the message explanation.
It may occur that the Help selection is not available on the shortcut menu which is shown
when you right-click the message in the Event List view. In this case the explanation
can still be obtained by clicking System→Messages and locating the message using the
Contents list or using the Search facility.
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An example of an explanation:
Note
The Corrective actions in the message explanations provides only general advice. You
must evaluate the required action according to the current operational situation.
Operator pop-up messages

Operator pop-up messages are superimposed across the centre of the display.
These messages are shown in situation such as:
• a button is pressed when the operator station is not in command of the system
• an attempt is made to select a function that is not allowed in the current system mode
or with the currently opened dialog box
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Message system
There are three categories of operator pop-up messages, each indicated by an icon.
For example:
Illegal
Attention
Information
Critical system messages

If certain system errors are detected, a critical system message is superimposed across
the centre of the display.
These messages are shown, for example, when there is no network response from the
controller PS or for some reason an inconsistency in the system software parameters
has been detected.
Controller PS response
If there is no response from the controller PS because communication with the controller
PS is lost or it has a major hardware failure, the critical system message No network
response from DP Controller PS is shown.
It is normal for this message to be shown when the system is being started or restarted
after the controller PS has been switched off.
Assuming that the controller PS is serviceable, this message will be replaced by the
message The DP Controller PS is now responding when the system has been restarted and
the operator station establishes communication with the controller PS.
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After a preset time limit (when the Countdown: value reaches zero) this message is
removed from the display.
If the message No network response from DP Controller PS is not replaced by the message
The DP Controller PS is now responding within 2 minutes, you should try to solve the
problem using the fault finding flowchart in the Maintenance Manual for your system.
If this fails to find the cause of the problem, contact Kongsberg Maritime Customer
Support for help.
Software inconsistency
If a software inconsistency occurs due to an unauthorized change of the parameters in
a software configuration file, or for some reason the software has become corrupted, a
critical system message is shown.
If this message is shown, it may be unsafe to continue using the system. Therefore,
depending upon your system configuration, it is recommended to do one of the following:
• If your system has only one operator station, place the system in Standby mode (or
shut it down) and then contact the Kongsberg Maritime Customer Support department
for help.
• If your system has more that one operator station and/or terminal, transfer command
to another operator station or terminal and then contact Kongsberg Maritime
Customer department for help.
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Sensor error situations
Topics
Gyro error, page 112
Wind sensor error, page 113
VRS error, page 115
Position-reference system error, page 116
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Gyro error
Rejected heading measurements

Normally, all available gyrocompasses will be running and enabled for use. The system
then receives and compares the signals from all gyrocompasses, but uses only one of
them to calculate the vessel's heading. You can specify which gyrocompass is preferred
for use by the system:
• When two gyrocompasses are running and enabled, the system will normally use the
preferred gyrocompass. If the difference between the measured value read from
a gyrocompass and the model value exceeds a predefined limit, an alarm message
is shown; for example:
Gyro 1 prediction error
If this error is for the gyrocompass that is in use, the system will change automatically
to the other gyrocompass.
In the event of a prediction error, you should always check the values from the
gyrocompasses on the Sensor view and compare with an alternative source of heading
information to confirm which gyrocompass is faulty.
• When three gyrocompasses are running and enabled, the system will normally use the
preferred gyrocompass. If the difference between the measured value from one of the
gyrocompasses and the median value exceeds a predefined limit, the measurements
from this gyrocompass will be rejected and an alarm given. If required, the system
will change to another gyrocompass.
Faulty gyrocompass
If the measurements from a gyrocompass are not accepted by the system, a message is
shown with information about the failure; for example:
Gyro 1 not ready
Alternatively, it may indicate only that there is a difference between the measurements
from the available gyrocompasses. In the latter situation, you must try to find the faulty
compass by comparing the received measurements with an alternative source of heading
information.
In the following examples it is assumed that two gyrocompasses are available, that both
gyrocompasses are enabled and that Gyro 1 is in use:
• If there is a failure on Gyro 2 (the gyrocompass that is not in use), disable the signals
from Gyro 2 and rectify the fault.
• If a fault is detected on Gyro 1 (the gyrocompass that is in use), the system will
switch to Gyro 2 automatically if Gyro 2 is enabled. Disable the signals from Gyro
1 and rectify the fault.
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• If there is a failure on a gyrocompass and the system cannot detect which compass
is faulty, for example:
Gyro difference
perform the following:
1 Check the measured values from the gyrocompasses in the Sensors view and use
an alternative compass to find which gyrocompass is faulty.
2 Disable the faulty gyrocompass and rectify the fault.
After a faulty gyrocompass has been repaired and is ready for use, you should enable
it again.
Heading dropout
If the vessel heading that is estimated by the vessel model differs significantly from the
measured vessel heading, the following message is shown:
Heading prediction error
If this continues for more than two seconds, the system will assume that the information
from the gyrocompasses is unreliable and will stop updating the vessel model with the
measured heading. In this situation the following message is shown:
Heading dropout
The same message will be shown if no gyrocompasses are enabled, or if there is a total
gyrocompass malfunction.
It is not possible to operate with automatic heading or position control in a heading
dropout situation.
Go to Standby mode to reset the estimated heading from the vessel model to the
measured gyrocompass heading.
Check that the gyrocompasses are ready, whether the readings are drifting or if other
error messages indicate interface errors.
Wind sensor error
Rejected wind measurements

A fault causing jumps in readings from the wind sensor could lead to an unwanted
change in thrust force.
To avoid this, the system performs the following test:
• A wind speed measurement is rejected by the system if the wind speed is above
a predefined limit (for example 15 m/s) and increases by more than a predefined
value (for example 10 m/s).
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• A wind direction measurement is rejected by the system if the wind speed is above a
predefined limit (for example 10 m/s) and the wind direction changes by more than a
predefined value (for example 60 degrees).
The wind sensor will be rejected if more than a predefined number (for example 15) of
consecutive readings are rejected according to these limits. If this happens, the following
message is shown:
Wind 1 rejected <current speed/direction>
In order to adapt quickly to dynamic changes in wind, the input data to the test is the
difference between new measurements, and low-pass filtered speed data with a small
time constant (5 seconds).
The filter is reset:
• Continuously in Standby mode.
• When the sensor Enable changes from Off to On.
• If there is a long time (5 minutes) since a Ready signal was received from the wind
sensor.
Note
The wind sensor(s) will be rejected if speed is increasing with more than 10 m/s in
Trainer mode (and not in Standby mode). The situation is resolved by disabling/enabling
the rejected sensor.
There can be situations where you want to temporarily stop using the input from the wind
sensor, such as during helicopter operations or when operating close to another large
structure where there may be sudden disturbances of the measured wind. If you disable
the wind sensor, the system continues to use the wind speed and direction values that
were measured just before the wind sensor was disabled.
Faulty wind sensor

If the measurements from the wind sensor are not accepted by the system, a message is
shown with information about the failure, for example:
Wind 1 not ready
from the available sensors. The difference may be due to a faulty wind sensor. In
the latter situation, you must try to find the faulty sensor by comparing the received
measurements with an alternative source of wind information.
In any case you should use an alternative source of wind information to determine
which wind sensor is providing measurements that are the most representative for the
wind forces acting on the vessel.
In the following examples it is assumed that two wind sensors are available, both sensors
are enabled and Wind 1 is in use:
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• If there is a failure on Wind 2 (the sensor that is not in use), disable the signals from
Wind 2 and rectify the fault.
• If a fault is detected on Wind 1 (the sensor that is in use), the system will switch to
Wind 2 automatically. Disable the signals from Wind 1 and rectify the fault.
• If there is a failure on a wind sensor and the system cannot detect which sensor is
faulty; for example:
Wind difference
1 Check the measured values from the wind sensors on the Sensors view and use
an alternative source of wind information to find which sensor is faulty.
2 Disable the faulty sensor and rectify the fault.
Note
A wind measurement will be influenced by the location of the sensor. Differences
in measurements can arise naturally. It is important to use the sensor that is most
representative for the wind forces acting on the vessel.
When the wind sensor has been repaired and is ready for use, you should enable it again.
VRS error
If measurements from the vertical reference sensor (VRS) are not accepted by the
system, or if any of the channels for the VRS are faulty, a message is shown with
information about the failure, for example:
VRS 1 not ready
If VRS information is lost, the system will be unable to compensate the received position
measurements for vessel motion. The positioning capability of the system can then
be degraded.
When the VRS has been repaired and is ready for use, you should enable it again.
from the available vertical reference sensors. In the latter situation, you must try to find
the faulty sensor by comparing the received measurements with an alternative source of
VRS information.
In the following examples it is assumed that two vertical reference sensors are available,
that both are enabled, and that VRS 1 is in use:
• If there is a failure on VRS 2 (the VRS that is not in use), disable the signals from
VRS 2 and rectify the fault.
• If a fault is detected on VRS 1 (the VRS that is in use), the system will switch to VRS
2 automatically. Disable the signals from VRS 1 and rectify the fault.
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• If there is a failure on a VRS and the system cannot detect which VRS is faulty,
for example:
VRS difference
1 Check the measured values from the vertical reference sensors in the Sensor
view and use alternative VRS information to find which VRS is faulty.
2 Disable the faulty VRS and rectify the fault.
Position-reference system error
Position dropout
If the vessel position is under automatic control and all position-reference input is lost or
rejected, the following message is shown:
All reference systems rejected
After 30 seconds without reference input, the following alarm is given:
Position dropout
This means that the system is currently using only the estimated position from the vessel
model, and that this position has not been updated with measured positions for at least 30
seconds (“dead reckoning” mode).
When this message is generated, the position setpoint is set automatically to the current
estimated vessel position while the system tries to re-calibrate the position-reference
systems.
You can remain in position dropout, but the following points must be noted:
• The shown vessel position is the estimated position from the vessel model. After a
few minutes, the vessel may begin to pick up speed in one direction.
• A calibration of the lost position-reference system may occur at any time. This will
have no immediate effect, but if the calibrated system is unreliable or drifting, the
vessel may begin to move.
The recommended action in position dropout (if operational circumstances allow) is:
1 Return the system to joystick control in all axes and use the joystick to manoeuvre
the vessel.
2 When at least one reliable position-reference system is successfully calibrated,
return to the required operation mode.
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Position information
Topics
Handling position information, page 118
Two dialog boxes are used to set up the required conditions for handling and conversion of position
information from the position-reference systems and to and from the display.
Coordinate systems, page 119
Position information from position-reference systems may be received by the system in many
different forms.
System datum, page 119
The controller PS always uses the internal geographic coordinate system with the WGS84 system
datum.
Reference origin, page 119
Each position-reference system provides position measurements relative to a known reference
point specific for that position-reference system.
Tests on position measurements, page 120
The system performs a series of tests on the position-reference system to check that its position
measurements are accurate enough for use.
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Handling position information

Two dialog boxes are used to set up the required conditions for handling and conversion
of position information from the position-reference systems and to and from the display.
The Position Presentation dialog box can be used to select the datum and coordinate
system for display of position information.
The Reference System Settings dialog box can be used to provide information about the
input position data from each reference system.
Related topics
Position presentation dialog box, page 228
Reference system properties dialog box, page 258
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Coordinate systems
Position information from position-reference systems may be received by the system
in many different forms.
• Global position-reference systems such as GPS provide position information as
latitude and longitude in a geodetic coordinate system. The applicable datum must be
known, for example, WGS84 and ED87.
• Some global position-reference systems provide positions in the UTM projection (a
flat surface projection, defined by a UTM zone and north and east distances from the
0 point of this zone). The applicable datum must be known, for example, WGS84
and ED87.
• Local position-reference systems such as HPR provide positions in local Cartesian
coordinates (defined by two-dimensional measurement of the north/south (X) and
east/west (Y) distances from a locally defined reference origin, such as the position
of a transponder).
Whatever types of position-reference systems are enabled, all position input is converted
into an internal geographic system that uses WGS84 as a “system datum”.
System datum
The controller PS always uses the internal geographic coordinate system with the
WGS84 system datum.
• All position information from global reference systems which use a different datum
are converted internally to WGS84.
• Position information in UTM format is converted to geographic coordinates.
Reference origin
Each position-reference system provides position measurements relative to a known
reference point specific for that position-reference system.
with the system, becomes the reference origin (the origin in the internal coordinate
system). Position information from any other reference systems is then calibrated
according to this coordinate system.
This coordinate system remains as the reference origin until all position-reference
systems are deselected and a new position-reference system is selected as the reference
origin.
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Selecting a particular position-reference system as the reference origin does not mean
that the system treats it as being better or more reliable than any other position-reference
system. It concerns only the location of the reference origin.
The reference origin selected should be the one most appropriate to your operational
requirements. For example, using a local position-reference system (e.g. Artemis)
to provide the reference origin will give you a local position whereas using a global
position-reference system (e.g. GPS) will give you a global position.
The position of the reference origin is indicated in the Posplot view (if within the range
of the view). The reference system defining the reference origin is marked with an
asterisk in the Reference system main view.
Tests on position measurements

The system performs a series of tests on the position-reference system to check that its
position measurements are accurate enough for use.
The following online tests are performed:
• A freeze test rejects repeated measurements. If the variation in the measured position
is less than a system-set limit over a given period of time, the position-reference
system is rejected.
• A variance test monitors the measurement variance and compares the variance value
with a calculated limit.
• A prediction test detects sudden jumps or large systematic deviations in the measured
position. The limit for the prediction test is a function of the estimated position in
the vessel model and the actual measurement accuracy.
• A divergence test gives a warning of systematic deviations and/or slow-drift (before
the system is rejected by the prediction test).
• A median test detects position measurements that differ from the median position
value by more than a predefined limit. This test, which requires a minimum of
three active position-reference systems, is mainly designed to detect slowly drifting
If the results of the variance and prediction tests suggest that the position measurements
from the reference system are not accurate, the measurements are not used.
The characteristics of the position-reference system (when active) are shown in the
Reference system main view.
Related topics
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Freeze test
If the position-reference system has an internal error causing the same measurements to
be continuously sent to the vessel model, the system could, if no precautions were taken,
mistake the data for accurate and stable measurements.
The freeze test rejects repeated measurements and the system treats repeated
reports of the same position from the position-reference system with caution. The
position-reference system is monitored and its input is rejected if the variation in its
position measurements is less than a predefined limit over a given time period. In such a
situation, the following message is shown:
Reference position frozen
You should disable the position-reference system.
Note
The freeze test is usually disabled for some position-reference systems (usually GPS
and/or Artemis) due to the resolution of the data from this type of position-reference
system.
Variance test
The system calculates a variance for the position-reference system when it is in use. It
then assigns a weighting factor to the position-reference system, based on its calculated
variance. In this way, the system is able to place more emphasis on the position-reference
systems that are providing the best measurements. The higher the system's variance, the
lower its weighting factor.
The following message is shown if the variance of the position-reference system exceeds
a system-set limit:
Reference high noise
The position-reference system is not rejected in this event, but the system places little
emphasis on the position-reference system in question.
The variance test detects if the variance in the measured values exceeds the rejection
limit. The variance reject limit is based on the expected variance of the position-reference
system. The following message is shown when the position-reference system is rejected
due to too high variance:
Reference high variance
You should disable the position-reference system if the event of high variance is
recurring. No corrective actions are necessary if the problem is intermittent only.
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Prediction test
The prediction test detects sudden jumps in the measured position, and immediately
rejects those that lie outside the limits. The test will also reject data that drift away from
the vessel model's predictions. The rejection limit for the prediction test is a function of
the actual measurement accuracy (calculated variance).
(CD3293)
If the prediction test limits are exceeded, the following message is shown:
Reference prediction error
When this message is shown, you should verify that the position-reference system is
rejected so that you can disable the position-reference system.
The prediction error limit of the most accurate position-reference system at any time,
called the Minimum Prediction Error Limit, is shown in the Reference system main view.
Irrespective of the accuracy of the position-reference system, the prediction error
limit is usually not set to less than 4 metres. This is done to avoid rejecting accurate
position-reference system data.
Divergence test
When two or more position-reference systems are in use, this slow drift test detects when
measurements from one position-reference system differ from the other(s). The limit is
taken as 70 % of the Minimum Prediction Error Limit.
The purpose of the test is to give an early indication of systematic errors before the
position-reference system is rejected by the prediction test. This test only warns the
operator, and does not automatically reject data. The following message is shown:
Reference high offset
When this message is shown, you should examine which position-reference
system is drifting using the Reference system main view. Recalibrate or disable the
position-reference system that causes the high offset warning.
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Median test
The median test can be performed when three or more position-reference systems
are in use. The median position is calculated from the filtered measurements that are
independent of the vessel model.
The median test is primarily intended to reject slowly drifting position-reference
systems. Unlike the prediction test, the median test is independent of the vessel
model. This implies that a position-reference system can be rejected even though its
measurements do not deviate from the vessel model, as can be the case with slowly
drifting position-reference systems.
When the median test is active, a blue circle with radius equal to the median test limit
and with centre at the median value of all positions given by the position-reference
systems, is shown in the Reference system main view. The median test limit is taken as
80 % of the Minimum Prediction Error Limit.
The following message is shown when a position-reference system is rejected:
Reference median rejected
When this message is shown, you should verify that the correct position-reference
system is rejected and the disable this position-reference system. If the reference system
is not disabled, this may lead to rejection of a potentially more accurate reference system
by the prediction test.
If measurements from more than one position-reference system are outside the median
test limit, only the system with the longest distance to the Median position is rejected.
This system will take part in the median testing in the next sample (unless it is disabled
by the operator).
In a situation with several drifting position-reference systems, disabling of a reference
system may lead to a sudden change in the median position.
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Position-reference systems A and C are outside the median test limits. C is rejected:
124 407271/D
C has been disabled by the operator and therefore does not take part in the test. This
causes median position to change. Position-reference system A is now outside the
median test limit. A is rejected:
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DP online consequence
analysis
Topics
DP consequence analysis, page 127
The DP Online Consequence Analysis function performs analyses to determine the vessel's ability
to maintain its position and heading after predefined worst-case single-equipment failures. The
analyses are called “online” because they consider the present environmental conditions, thruster
status and power consumption.
Status information, page 128
Information about the selected class and the status of the consequence analysis is indicated in the
lower part of the Rotation center position pane on the dashboard.
Alarm messages, page 128
If an analysis detects that a given worst-case single-equipment failure will result in insufficient
thrust or power to maintain the vessel's position and heading, an alarm message is shown.
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DP online consequence analysis
DP consequence analysis
The DP Online Consequence Analysis function performs analyses to determine
the vessel's ability to maintain its position and heading after predefined worst-case
single-equipment failures. The analyses are called “online” because they consider the
present environmental conditions, thruster status and power consumption.
This function satisfies the requirements of IMO Equipment Class 2 and Class 3. It also
satisfies the requirements for systems with enhanced reliability (Class ER).
The analysis checks whether the thrusters remaining in operation after a worst-case
single-equipment failure are able to generate the same resultant thruster force and
moment as required before the failure, and whether the remaining generators are able to
produce sufficient power. An alarm message is given if a failure would result in lack of
thrust or power, and subsequently drift-off.
The worst-case single-equipment failures that are simulated are predefined according
to the power and thruster configuration of the vessel. Typically, these failures will be
the loss of one complete switchboard, one engine room, or a group of thrusters that can
be affected by a single equipment failure.
For systems with batteries as a part of the main power supply, the analysis include
calculation of the remaining life time of the batteries.
The analysis always checks if a power segment is powered solely by batteries. In this
case the remaining life time is shown on the Rotation center position pane.
Consequence analyses are performed cyclically, every minute, whenever the following
criteria are satisfied:
• The system is in Auto Position mode.
• The position setpoint status as displayed on the Position deviation pane of the
dashboard is PRESENT.
• The heading setpoint status as displayed on the Heading pane of the dashboard
is PRESENT.
• DP Class 2, Class 3 or Class ER is selected using the DP Class dialog box.
By default, the DP Online Consequence Analysis function is switched off. Prior to
engaging Class 2, Class 3 or Class ER operations, the corresponding class of operation
must be selected using the DP Class dialog box.
Related topics
DP class dialog box, page 169
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Status information
Information about the selected class and the status of the consequence analysis is
indicated in the lower part of the Rotation center position pane on the dashboard.
No DP class selected.
DP class selected and the consequence analysis is active.
DP class selected and the consequence analysis is inactive (waiting mode),

for example the vessel is changing position or the wrong system mode is
selected.
DP class selected and the consequence analysis is active. The orange colour
indicates that two consecutive failures are reported.
DP class selected and the consequence analysis is active. The red colour
indicated that three or more consecutive failures are reported.
When the DP Online Consequence Analysis function is activated, a message is shown,

for example:
Consequence analysis running class 2
When the system mode is changed from automatic control, or if you explicitly turn off
the function using the DP Class dialog box, the following message is shown:
Consequence analysis stopped
During a change of position or heading, the failure simulations are temporarily halted.
When the vessel reaches PRESENT position and PRESENT heading, the failure
simulations are restarted. No messages are given for this type of temporary halt.
Alarm messages
If an analysis detects that a given worst-case single-equipment failure will result in
insufficient thrust or power to maintain the vessel's position and heading, an alarm
message is shown.
For example:
Consequence analysis drift off warning
This message is followed by additional information that depends on the type of failure
simulated and whether insufficient thrust or insufficient power was detected. For
example:
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DP online consequence analysis
power critical if connect-swbd 1 lost

thrust critical if thrusters 1-4 lost
thrust critical if port diesel lost
If the message indicates that thrust is critical, you should enable more thrusters. If
the message indicates that power is critical, you should make more power available.
Alternatively, change to a more favourable heading.
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Power system
Topics
Power monitoring, page 131
K-Pos DP has no direct control over the vessel's electrical power system. This is administered by a
separate Power Management System (PMS).
Power load monitoring and blackout prevention, page 131
The Power Load Monitoring function monitors the total load on the connected switchboards and
checks for unbalanced load. It will also act upon input failures from equipment connected to the
power distribution network, for example generators.
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Power system
Power monitoring
K-Pos DP has no direct control over the vessel's electrical power system. This is
administered by a separate Power Management System (PMS).
Normally K-Pos DP receives information about:
• The power produced by each main generator.
• Which switchboard each generator is connected to.
• How the switchboards are connected.
• How the thrusters are connected to the switchboards.
This information is used by K-Pos DP for power overload control and is also shown
in the Power view.
Related topics
Power view, page 348
Power load monitoring and blackout

prevention
The Power Load Monitoring function monitors the total load on the connected
switchboards and checks for unbalanced load. It will also act upon input failures from
equipment connected to the power distribution network, for example generators.
Single failures will be handled in such way that Power Optimal Allocation and Blackout
Prevention will still work.
The Blackout Prevention function is the last barrier in K-Pos DP to prevent overload on
the connected switchboards. Some functions in K-Pos DP can add thrust to the resulting
thrust from the Power Optimal Allocation, which might lead to an overload situation if
not handled by the Blackout Prevention function.
The Blackout Prevention function will reduce the thrust demand if the estimated load
exceeds the nominal limit. The reduction is done as percentage-wise distribution of
phase back power according to the rated power for each thruster.
The Blackout Prevention function will only limit thruster commands to avoid a stable
power plant becoming overloaded. The function cannot prevent a potential blackout
caused by generator tripping.
The Power Load Monitoring and Blackout Prevention functions cover the following
standard power plant configurations:
• diesel generators supplying thruster/propeller drives
• shaft generators supplying thruster drives
• a combination of diesel generators and shaft generators
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This function supplements the vessel's Power Management System (PMS). The
thruster/propeller setpoint reduction criteria during DP control are set at lower overload
levels than the load reduction initiated by the vessel's own PMS. The Power Load
Monitoring and Blackout Prevention functions are active in all operation modes.
K-Pos DP requires the following information in order to perform blackout prevention:

• Generator power and breaker status
• Bus-tie breaker status
• Thruster breaker status (if more than one for each thruster)
The following functions are also available:
• Generator Load Limitation
Performs load limitation of the most loaded generator if a skew-load situation occurs
on the connect-switchboard. The overload protection is achieved by automatically
reducing the pitch/rpm/force/load on the thrusters/propellers connected to the
connect-switchboard until the most loaded generator operates within its nominal
capacity.
• Diesel Engine Load Limitation
Monitors the load on each diesel engine (fuel-rack monitoring) which drives both a
generator and a controllable-pitch propeller on the same shaft. Power load is reduced
by reducing the pitch setpoint on the connected propeller when the nominal engine
load is exceeded. Note that this function requires an interface to the diesel engine
fuel-rack reading.
• Diesel Engine Load Monitoring
Monitors the load on each diesel engine (fuel-rack monitoring) which drives a
controllable-pitch propeller. This function requires an interface to the diesel engine
fuel-rack reading. This function is for presentation purposes only, and does not
perform any load limitation.
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Power system
• Thruster Load Monitoring (Current/Power)

Monitors the current/power load on each individual thruster/propeller motor. Note
that this function requires an interface for the motor current/power reading.
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Built-in trainer
Topics
Trainer functions, page 135
The built-in trainer provides functions for operator training based on a simulated system.
Simulations are performed at the system operator station with no additional equipment required.
Using the trainer, page 135
You can start the built-in trainer by connecting the operator station to the MainSimulator
controller process station (PS) group and you can also define the environmental settings for the
built-in trainer.
Leaving the trainer, page 136
Before leaving an operator station after a training session, it is strongly recommended that you
prepare the operator station for normal operation by connecting it to the Main controller PS or
other relevant controller PS group.
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Built-in trainer
Trainer functions
The built-in trainer provides functions for operator training based on a simulated system.
Simulations are performed at the system operator station with no additional equipment
required.
In DP systems with more than one operator station, the built-in trainer can be used at
one operator station at the same time as the other operator stations are used for normal
operation, without affecting the actual operation of the vessel. In this case the operator
stations are connected to different controller PS groups.
Using the trainer

You can start the built-in trainer by connecting the operator station to the MainSimulator
controller process station (PS) group and you can also define the environmental settings
for the built-in trainer.
Prerequisites
In order to use an operator station for training, it must be connected to the MainSimulator
controller PS group. When this condition is met, the text SIMULATING (or other
configuration-specific text) is shown flashing on the top bar after the name of the
operator station in use.
If an operator station is not in command of a controller PS group, you can connect it to
any available group (such as MainSimulator) at any time. However, if the operator
station has command of a controller PS group, the system must be in Standby mode
before you can connect the operator station to a different group.
Tip
When the chart background display has been configured, you can use the planning
function in the Posplot view to find the start position you want to use for the next trainer
session.
Procedure
1 Ensure that the vessel is controlled from the bridge or from another operator station.
For systems with only one station, the system must be in Standby mode.
2 Click System→Connect to open the Connect dialog box.
3 Click MainSimulator in the Connect dialog box.
4 Click OK or Apply in the Connect dialog box.
• The operator station is connected to the MainSimulator controller PS group.
• All other operator stations are still connected to the Main (or another relevant)
controller PS group(s).
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• While the operator station is connected to the MainSimulator controller PS

group, the text SIMULATING (or other configuration-specific text) is shown
flashing on the top bar.
5 Press the TAKE button twice within four seconds to take command of the
MainSimulator controller PS group.
The TAKE button on the operator panel becomes lit.
6 Click Tools→Trainer.
The Trainer Settings dialog box is opened.
The settings shown in this dialog box are the values that were in use when the
previous training session was stopped (provided that no stop or restart of the OS has
taken place in the meantime).
7 If required, enter the start position of the vessel from where you want to start the
simulation. You can select to move to this position whenever the system returns to
Standby mode by selecting the corresponding check box.
8 Enter the required Wind and Sea Current values to be used during the simulation.
9 Enter the vessel Draught to be used during the simulation.
Result
The system is now ready for simulation. Use the system as you would during normal
operation.
Related topics
Connect dialog box, page 166
Trainer settings dialog box, page 311
Leaving the trainer

Before leaving an operator station after a training session, it is strongly recommended
that you prepare the operator station for normal operation by connecting it to the Main
controller PS or other relevant controller PS group.
Procedure
1 Go to Standby mode.
2 Click System→Connect to open the Connect dialog box.
3 Click Main (or other relevant controller PS group) in the Connect dialog box.
4 Click OK or Apply in the Connect dialog box.
• The operator station is connected to the selected controller PS group.
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Built-in trainer
• The values defined in the Trainer Settings dialog box are saved for use as start-up
values in a future training session.
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Dialog boxes
Topics
About dialog box, page 141
Acceleration/deceleration settings dialog box, page 143
Alarm limits dialog box, page 145
Alongship force control dialog box, page 152
Change User dialog box, page 156
Clutch settings dialog box, page 157
Command Control dialog box, page 159
Connect dialog box, page 166
Date and Time dialog box, page 167
Datum details dialog box, page 168

EBL dialog box, page 170
Equipment dialog box, page 171
Event Printer dialog box, page 181
Export Log Files dialog box, page 182

FW Manager dialog box, page 183
Gyro deviation dialog box, page 188
Heading dialog box, page 190
Heading (Setpoint) dialog box, page 194
Heading Setp. dialog box, page 195
IO Manager dialog box, page 196
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IO Point Browser dialog box, page 199

Joystick Calibrate dialog box, page 208
Local N/E properties dialog box, page 212

Numeric entry keypad dialog use dialog box, page 214
Panel Lamp Test dialog box, page 216
Panel Light Configuration dialog box, page 217

Position dialog box, page 218
Position inc dialog box, page 226
Position R/B dialog box, page 227

Position (Setpoint) dialog box, page 231
Power optimal allocation dialog box, page 232
Preselect dialog box, page 234
Print status dialog box, page 238
Quick model dialog box, page 239
RBUS IO Image dialog box, page 241
Redundant Stations dialog box, page 245
Reference system dialog box, page 250
Reference system origin dialog box, page 256
Reference system properties dialog box, page 258
Reference system settings dialog box, page 261

Reset controller PS dialog box, page 264
Sensors dialog box, page 268
Set System Date/Time dialog box, page 283
Speed setpoint dialog box, page 284
Station Explorer dialog box, page 285
Stop/restart dialog box, page 288
Thruster Biasing dialog box, page 293
Thruster combinator control settings dialog box, page 305
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Thruster enable dialog box, page 307
Thruster run-in dialog box, page 309

Trainer settings dialog box, page 311
UTM properties dialog box, page 312
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About dialog box

Use this dialog box to view vital system and file information. This information can be
useful when contacting Kongsberg Maritime for help in case of problems with K-Pos
DP. It contains an overview of basic software information for your K-Pos DP.
How to open
Click System→(Help) About.
Example
Clicking the EXE/DLLs button opens a list of .exe and .dll files in use and their
corresponding version numbers.
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Clicking the Overview button returns to the overview of software information.

Clicking the Details>> button opens a detailed list of which .exe files use which .dll files.
Clicking the Overview button returns to the overview of software information.

Clicking the Details<< button returns to the list of .exe and .dll files in use.
Details
Program (EXE)
Lists all the .exe files.
Using DLL
Lists a batch of all the .dll files used by each specific .exe file.
Version
Lists the version of the program (.exe file).
Modified
Lists the date each .dll and .exe file was last modified.
Size
Lists the file size for each .dll and .exe file.
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Acceleration/deceleration settings dialog box

Acceleration and deceleration factors in the surge, sway and yaw axes can be specified
for low-speed operation, and for operation in Relaxed control mode. Acceleration and
deceleration factors in the yaw axis can be specified for high-speed operation.
Prerequisites
In Auto Position mode with High Precision control mode selected, the Low Speed
acceleration/deceleration factors apply.
How to open
Click Settings→(Control) Acceleration.
Example
Description
Use the Acceleration/deceleration settings dialog box to:
• Specify the acceleration and deceleration factors for the vessel speed in surge and
sway axes at start and finish of a commanded change of position.
• Specify the acceleration and deceleration factors for the vessel's rate of turn at start
and finish of a commanded rotation.
Details
The options available in the Low speed and Relaxed control pages are identical.
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The acceleration/deceleration factors in the Low speed page are those that are used when
neither Relaxed control mode nor high speed apply.
The acceleration/deceleration factors on the Relaxed Control page are those that are used
when Relaxed control mode is selected.
Controller Reference
The acceleration and deceleration factors (Surge, Sway and Yaw) can be set
in the range 0.0 to 100 %, and represent a percentage of maximum available
acceleration/deceleration. The selections in the Low Speed and Relaxed control
pages are identical. In the High speed page only acceleration/deceleration factors in
the Yaw axis can be specified.
Acceleration factor
As the vessel starts a change of position, the vessel speed is increased to the
speed setpoint using the selected acceleration factors in the surge and sway
axes.
As the vessel starts a change of heading, the rate of turn is increased to the
rate of turn setpoint using the selected acceleration factor in the yaw axis.
Deceleration factor
As the vessel approaches the new position setpoint, the vessel speed is
decreased to zero using the selected deceleration factor in the surge and
sway axes.
As the vessel approaches the new heading setpoint, the rate of turn is
decreased to zero using the selected deceleration factor in the yaw axis.
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Alarm limits dialog box

Use this dialog box to enter and enable necessary operational limits.
How to open
Click Alarms and then the respective menu option for the limits you want to enter.
This dialog box has several pages.
Related topics
Alarm limits dialog box - VRS page, page 148
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Alarm limits dialog box - Position page

Use this page to set the position and heading warning and alarm limits.
How to open
Click Alarms→Position and heading.
Example
Details
Position
Warning and alarm limits can be set for position deviation. When the vessel's
actual position differs from the position setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual position differs from the
position setpoint by more than the alarm limit, an audible signal is given and an
alarm message is shown.
When active, the position limits are shown as black circles — solid for alarm and
dashed for warning, in the Position Deviation pane. When inactive, the position
limits are shown as grey circles.
Note
In all modes, the position limits are inhibited until a requested change in position
is completed.
Heading
Warning and alarm limits can be set for heading deviation. When the vessel's
actual heading differs from the heading setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual heading differs from the
heading setpoint by more than the alarm limit, an audible signal is given and an
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The limits are active only when the yaw axis is under automatic control.
When active, the heading limits are shown as black lines — solid for alarm and
dashed for warning, in the Posplot view. When inactive, the heading limits are
shown as grey lines.
Note
In all modes, the heading limits are inhibited until a requested change in heading
is completed.
Warning/Alarm
To change the limits, either enter new values directly in the text boxes, or use the
up and down arrow buttons to increase or decrease the current values. Warning
limits can never be set higher than the corresponding alarm limits.
Active
To activate the limits, select the Active check box. You can activate either the
alarm limit only, or both the warning and alarm limits. You cannot activate only a
warning limit. If you select the Active check box for warning, the corresponding
alarm limit is also activated.
Related topics
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Alarm limits dialog box - VRS page

Use this page to set the position and heading warning and alarm limits.
How to open
Click Alarms→VRS.
Example
Description
The system monitors the pitch and roll motions of the vessel as measured by the vertical
reference sensors (VRS). If heave measurements are available from the VRS, the system
also monitors this motion. You can specify maximum alarm limits for each motion. If an
alarm limit is exceeded, an audible signal is given and an alarm message is given.
Details
Alarm
up and down arrow buttons to increase or decrease the current values.
Active
To activate the limits, select the check boxes.
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Allocation settings dialog box

Use this dialog box to set a fixed direction of azimuth thrusters/rudders and/or specify
rudder angle limits.
How to open
Click Thruster→Allocation settings.
Example
Details
Manual fix angles
The operator can set fixed direction of azimuth thrusters/rudders by entering the
required direction (in degrees) in the Value text boxes and selecting the In Use
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check boxes. An azimuthing unit which is not selected to have fixed angle, will be
rotated individually as required. The Thruster Main view shows which thrusters
and/or rudders are using fixed angle.
Note
Manual fix angles is only effective when the MANUAL FIX allocation mode is
selected.
Ignore forbidden azimuth zones

When this is selected, the operator may set fixed azimuth angles that
otherwise would be within forbidden azimuth zones. Ignore forbidden
azimuth zones affects only zones defined in the MANUAL FIX allocation
mode.
Thruster priority limits
When the Thruster priority function is configured for use with some of the thrust
allocation modes, the defined thrusters will be used first. When they reach the
limits set here, the other thrusters will be used.
Rudder limit
The operator can specify angle limits within which the rudders are allowed to
operate. When the In Use check box is selected, the system will not turn the rudders
beyond the specified limit. These limits are shown on the Thruster main view:
Related topics
Rudder/nozzle control
The rudder/nozzle control function uses the rudder/nozzle to generate sideways thrust,
either as an addition to stern thrusters or alone if no lateral stern thrusters are available.
This function is designed for operation with two main propellers and
individually-controlled rudders/nozzles. The rudders may be of a traditional or high
performance type.
For example, during station-keeping modes, one main propeller and rudder/nozzle are
used to generate forward directional thrust within the rudder/nozzle angle limits. The
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Dialog boxes
second rudder/nozzle is set in the neutral position, and the second propeller is used to
reverse and counteract any excess thrust generated alongships by the first propeller.
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Alongship force control dialog box

Use this dialog box to control manually the thruster force in the alongships direction.
Prerequisites
The function is available in the following modes: Autopilot, Auto Track and Auto
Position with Pipelaying mode selected. In all other modes (including normal Auto
Position) the function is unavailable.
How to open
Click Settings→(General) Alongship force.
Example
Details
Enable Alongship Force Control
Selecting this check box enables the Alongship Force Control function. When
this function is enabled, the selected source, Lever, Manual or Joystick, sets the
alongships force demand. When Alongship Force Control is not enabled, any other
settings in this dialog box will have no effect on the control of the vessel.
The function is available in the following modes: Autopilot, Auto Track and Auto
Position with Pipelaying mode selected. In all other modes (including normal Auto
Position) the check box is unavailable.
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Note
During pipelaying operation in Auto Position mode, when disabling this function
the vessel will attempt to move back to its original position setpoint in surge
direction. If the deviation shown in the Position deviation pane is significant, press
PRESENT POSITION before disabling this function.
Hide bars
If you need to reduce the size of the dialog box click this button to hide the bars.
The dialog box looks like this:
Max Scale
You can enter a maximum scale for the bar graphs shown in this dialog box. This
also determines the maximum value you are allowed to enter in the Manual text
box.
Manual Demand
When Enable Alongship Force Control is selected, the Manual Demand source
provides manual demand in the surge direction. Bumpless transfer when
enabling/disabling the Manual Demand function can also be achieved. This
function works in all system modes except for Standby mode, where it is disabled
for safety reasons.
Lever
With this option button selected, you can use a lever to control the manual
surge demand (value indicated both graphically and numerically to the
right). The maximum surge demand represented by the lever's outer position
is determined by the value you have entered in the Max Scale spin box.
Bumpless transfer when enabling/disabling Manual Demand can also be
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obtained. To obtain bumpless transfer, adjust the lever demand until it

reaches the same level as the thruster force marker (the small green arrow
positioned at the top of the bar graph field), and then enable/disable the
Manual Demand function by selecting/clearing the Enable Alongship Force
Control check box and clicking Apply.
Manual
With this option button selected, the manual surge demand is taken from the
value you have entered in the Manual text box. The value is also shown
graphically.
Joystick
Bumpless transfer when enabling/disabling Manual Demand can also be

obtained. To obtain bumpless transfer, adjust the joystick demand until it
reaches the same level as the thruster force marker (the small green arrow
positioned at the top of the bar graph field), and then enable/disable the
Manual Demand function by selecting/deselecting the Enable Alongship Force
Control check box and clicking Apply.
When this option button is selected, you can use the joystick to control the
manual surge demand (value indicated both graphically and numerically
to the right).
In Use
The selection indicated by a check mark is used by the DP system.

Thrusters
Horizontal bar graph and text box showing the actual alongships thruster
force (both graphically and numerically). This is the alongships thruster
force to be applied manually for making bumpless transfer when the Manual
Demand function is to be enabled or disabled. The thruster force markers
on the Lever, Manual and Joystick bar graphs move in accordance with the
Thrusters bar graph to indicate manual thruster force to be applied.
Force
In addition to the bar graphs indicating the alongships force, the numeric
values are shown.
DP Error Force
Shows the calculated unknown forces in the vessel model in alongships

direction (including the sea current and wave forces).
Step
You can change the step value of the manual force demand. Each time you
click the up or down arrow increases or decreases the Manual force demand
with the step value.
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Envir.Comp.
When enabled, the environmental forces from wind, sea current and waves
are used in addition to the forces set by the selected source, i.e. Lever,
Manual or Joystick.
External force
Filt Force
Shows the calculated sum of alongships tension force as a bar graph and a
numeric value (filtered values). This is for monitoring only.
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Change User dialog box

Use this dialog box to select different users with different access for some operations.
How to open
Click System→(Access control) Change user.
Example
Description
There are three types of users defined for the system:
• Operator (for normal operational use)
When K-Pos DP is started, the user is set to Operator. This is the normal user of
K-Pos DP.
• Chief (for additional functions, requires a password)
The “Chief” can operate the system in the same way as the “Operator”. In addition
this user can set the system date and time and calibrate the joystick
• System (for Kongsberg Maritime personnel)
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Clutch settings dialog box

If the system loses control of one of the propellers, it has to compensate for the idle
force. In such situation the operator can specify when the system should clutch in and
out based on demand as a certain percentage of the idle force.
How to open
Click Thruster→Clutch settings.
Example
Details
Clutch strategy
Select the required strategy; Off, Demand limit or Continuous pulse.
Demand
Specify when the thrusters should clutch in and out based on demand as a certain
percentage of the idle force. These limits will be used when the clutch strategy
Demand limit is selected.
Clutch in limit
The clutch is activated when the demand reaches this limit (percentage of
the idle force).
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Clutch out limit
The clutch is deactivated when the demand falls below this limit (percentage
of the idle force).
Continuous pulse
Continuous pulse means cyclic operation of the clutch to achieve an average of

the allocated thrust.
Pulse period
The duration (in seconds) of each clutch pulse cycle.

Clutch active minimum
The minimum duration of time (in seconds) the clutch is activated for each
clutch pulse cycle. If the calculated clutch activation time is less than this
value, the thruster will not be clutched in. Increasing this value will reduce
the wear and tear of the clutch at the cost of position accuracy.
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Dialog boxes
Command Control dialog box

The dialog box shows the current command control status and is used to take or give
control of K-Pos DP.
How to open
Press the STATUS button.
Example
This dialog box has three pages, one page with the name of the operator station (in this
example DP-OS1), Overview and Give. The DP-OS1 page is referred to as “the DP-OS
page”.
Description
Note
It is recommended to use the operator panel buttons to take or give command control.
The information available from the Command Control dialog box is mainly intended for
operation of systems with several operator stations.
The dialog box is designed to correspond to the equivalent dialog box in the K-Chief
system where it is more frequently used. This has been done to improve the user
interface, especially on vessels with integrated automation systems on board.
Details
The controls at the bottom are present on all three pages. They are divided in three
groups, TAKE, GIVE and STATUS. Each group contains a lamp, a text field and a button.
Lamps
TAKE
• Lit on DP-OS1 when DP-OS1 is in command.

• Not lit on DP-OS1 when another OS is in command.
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• Flashes until DP-OS1 accepts when DP-OS1 is offered command, or during the
timeout period of one minute.
• Flashes while DP-OS1 is giving command to another operator station, until the
other operator station accepts, or during the timeout period of one minute.
GIVE
• Flashes while DP-OS1 is giving command to another operator station, until the
other operator station accepts, or during the timeout period of one minute.
Text fields and buttons
The text fields show the command-transfer action that will be performed when the you
click the related button.
TAKE
The TAKE button is unavailable when DP-OS1 is in command or when no

command group is selected for command transfer.
Messages that may appear in the text field:
• Take...
Default on the Give page. Click TAKE to show the DP-OS1 or Overview page,
depending on which was last used.
• Take
Appears above the TAKE button on the DP-OS page when an uncontrolled
command group or a command group currently under command of another
operator station is selected. Click TAKE to transfer the command to DP-OS1.
• Cancel Give...
Appears above the TAKE button when a Give request is initiated. Click TAKE
to cancel the Give request.
• Accept Give...
Appears above the TAKE button when a Give request is received. Click TAKE
to accept a Give request and transfers command to DP-OS1.
GIVE
Messages that may appear in the text field:

• Give...
Default on the DP-OS and Overview pages. Click GIVE to open the Give page.
• Give selected...
Appears above the GIVE button on the DP-OS and Overview pages when
“Giveable” command groups are selected. Click GIVE to open the Give page.
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• Start Give Transfer

Appears above the GIVE button on the Give page when “Giveable” command
groups are selected. Click GIVE to start a Give transfer of the selected command
groups.
• Reject Give
Appears above the GIVE button when a Give request is received. Click GIVE to
reject the Give request.
STATUS
For DP systems, message that may appear in the text field:

• Close
Default above the STATUS button on all three pages. Click STATUS to close
the dialog box.
Related topics
Command Control dialog box - DP-OS page, page 162
Command Control dialog box - Overview page, page 163
Command Control dialog box - Give page, page 164
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Command Control dialog box - DP-OS page

How to open
Example
Details
Command Group
All command groups are listed in this column. Only DP and DP(Sim) are relevant
to K-Pos DP.
Status
The text In Command in this column shows the command groups over which
this operator station has control.
Modified
Shows the time the command control state of the command groups was last
changed by this operator station.
Privileges
Shows the operator station's privileges for each command group. Takeable is the
only one relevant to K-Pos DP. Takeable means that an operator station can take
command of the command group in question without acceptance from the operator
station that was originally in command.
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Command Control dialog box - Overview page

How to open
Example
Details
Command Group
All command groups are listed in this column.
In Command
Shows the operator station that is in command.
Modified
Shows the time when the command control state was last changed by any operator
station. This may be different from the time shown for the same command group
on the DP-OS page as it shows the time the command control state was last changed
by the operator station that you are at.
Command Locations
Shows the operator stations that can take command of each command group. The
asterisk (*) means that the operator station can take command without acceptance.
This is usually the case for operator stations in K-Pos DP systems.
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Command Control dialog box - Give page

How to open
Example
Details
To OS Group:
Shows the operator station(s) to which command can be transferred.
Give Command of:
Clicking a DP-OS in the To OS Group list, causes a list of all the command groups
over which the operator station you are at (in this example DP-OS1) currently
has command, to be shown in this field.
Command groups
In IAS systems, the functionality is divided into command groups that reflect the way
in which the system will be operated. Each of these command groups will usually
represent a specific process area, for example, Ballast, Power, Propulsion, Propulsion
Simulation, etc.
All the available information about the command groups is available at all the connected
operator stations, but, for each command group, only one operator station can be in
command at any time.
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For DP purposes, DP and DP(Sim) are the relevant command groups, and “Take
Command”, “Request Command” and “Give Command” are the relevant command
transfer actions.
• DP — The operator station that controls this command group, controls the vessel's
propulsion system. All operator stations can take command of DP.
The operator station that controls this command group, controls the vessel's
propulsion system.
• DP(Sim) — A simulation session can be performed on the operator station that
controls this command group.
A training or simulation session can be performed on the operator station that controls
this command group (provided that the requirements for using the Built-in trainer
are met).
For DP operations only the DP and DP(Sim) command groups are of interest. You select
a command group by clicking its identifier in the Command Group list.
There is a folder icon for each command group. The folder icons are colour coded and
their presentation is changed to indicate the current status of each command group.
• Red, closed folder — uncontrolled, critical command group.
• White, closed folder — uncontrolled command group.
• Grey, closed folder — another operator station is in control of the command group.
• Green, open folder — this operator station (in this example DP-OS1) is in control
of the command group.
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Connect dialog box

Use this dialog box to connect the operator station to a controller PS group.
Prerequisites
If an operator station is not in command of a controller PS group, you can connect that
operator station to any available group at any time. However, if the operator station has
command of a controller PS group, the system on these controllers must be in Standby
mode before you can connect the operator station to a different group.
How to open
Click System→Connect.
Example
Description
An operator station can be connected to only one controller PS group at a time. Your
system configuration determines the controller PS groups to which each operator station
can connect.
Several operator stations can be connected simultaneously to a controller PS group, but
only one of these operator stations can be in command.
Details
A “controller PS group” is a group of one or more DP controller process stations. The
controller PS groups available depend on your system configuration:
• Main — the main controller PS group
• MainSim — the controller PS group for training and simulating sessions (optional)
Related topics
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Date and Time dialog box

Use this dialog box to define the time span for the events shown on the Historic Event
page.
How to open
Click on the toolbar of the Event List view (Historic Event page).
Example
Details
Most recent time
The time span is defined relative to a specified date and time. The “most recent
time” is the reference. This group box contains controls for setting the most recent
time.
Now
Clicking this button sets the Most recent time to the current time.
Calendar, Hour, Min, Sec
You can specify a date and time by using the calendar, and entering the
required time in the Hour, Min and Sec text boxes.
And time span backwards
The time span is defined in days, hours, minutes and seconds backwards in time.
Enter the required values in the Days, Hours, Min and Sec text boxes.
Related topics
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Datum details dialog box

A datum describes the earth as an ellipsoid using two parameters: Semimajor Axis and
Flattening. This dialog box contains the values for Semimajor Axis and Flattening and
the datum transformation parameters for conversion from WGS84 to the selected datum.
How to open
Click Details on the Position presentation dialog box.
Example
Details
Translation
The required translation from WGS84 to the selected datum.
Rotation
The required rotation from WGS84 to the selected datum.
Scale
The required scaling from WGS84 to the selected datum.
Semimajor Axis
The semimajor axis of the earth ellipsoid for the selected datum.
Flattening
The inverse flattening of the earth ellipsoid for the selected datum.
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DP class dialog box

Use this dialog box to set the class of operation for the DP Online Consequence Analysis
function.
How to open
Click Settings (General)→DP class.
Example
Description
If configured, the currently-selected DP class is indicated in the Rotation center position
Details
Time to next analysis
When the DP online consequence analysis is running, the time to the next sample
is counting down and shown in this box.
DP class
Class 2, Class 3 or Class ER must be selected to activate the DP online consequence

analysis.
Battery settings
Select the check box to include the batteries in the DP Online Consequence
Analysis.
Use the spin box to define the time for alarm limit of the batteries life time left.
The online consequence analysis calculates how long the batteries will last with
the current load and give an alarm when the time left is below the limit set here.
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EBL dialog box

Use the EBL (Electronic Bearing Line) function to view the geographic coordinates of
any position on the Posplot view, the distance of this position from the present position
of the vessel, and both the true and relative bearings to the position from the present
position of the vessel.
How to open
1 Click EBL on the Posplot view. The EBL dialog box is shown.
2 Move the trackball.
• A dotted line is shown from the present vessel position to the position indicated
with the trackball.
• The coordinates, range, and true and relative bearings of the indicated position
are shown on the EBL dialog box.
3 Click again to fix the indicated position.
The EBL dialog box is continuously updated with the relative range and bearing
from the vessel to the indicated position.
Example
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Equipment dialog box

This dialog box shows operational status information about the operator stations, history
stations and process stations in your system.
How to open
Click System→Equipment.
Description
In each line of each page, the background colour of certain fields are changed to indicate
alarm conditions.
When a system or process alarm condition occurs, the background of the field changes
colour and starts to flash. It will continue to flash until the applicable alarm is
acknowledged.
Related topics
Equipment dialog box - PS page, page 172
Equipment dialog box - PS Redundancy page, page 174
Equipment dialog box - OS/HS page, page 176
Equipment dialog box - Event Printer page, page 178
Equipment dialog box - Net Status page, page 179
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Equipment dialog box - PS page

This page shows the current status of all process stations defined in the system.
How to open
Example
Details
Station
Identification of the PS.

Group name
Shows the name of the redundancy group to which this station belongs.
(No column title)
Identification of the PS within the redundancy group. For example: Controller PS

A, B or C within the DpMain group.
Status
Shows the current status of the PS:

• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no communication with
the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Spare Time
The available CPU capacity, expressed as a percentage of total CPU capacity.
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Net State
Indicates the state of the A and B network interfaces:

• OK — Both network interfaces are OK.
• A-ERROR — Error on network interface A.
• B-ERROR — Error on network interface B.
• AB-ERROR — Error on both network interfaces.
I/O Status
Shows the status of the IO system for this PS:

• OK — No errors reported.
• ERROR — Errors reported.
Serial Status
Not relevant for DP systems.

Other Status:
Shows the status of other sub-systems reported by this station (typically system
self-test and monitoring):
• OK — No errors reported.
• ERROR — Errors reported.
Free Memory
Available memory (or largest continuous block) in KB. (Not applicable for WinPS.)
Uptime
The accumulated uptime of the station. Shown as a number followed by a character

indicating the period. For example: 3.06 d indicates 3.06 days (m = minutes, h
= hours, d = days, y = years).
Started
Time stamp when the PS was started.

Format: day/month/year hour:min:sec
Last Reported
Time stamp of last communication.

Format: hour:min:sec
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Equipment dialog box - PS Redundancy page

This page shows redundancy information for all process stations.
How to open
Example
Details
Station
Identification of the PS.

Group name
Shows the name of the redundancy group to which this station belongs.
(No column title)
Identification of the PS within the redundancy group. For example: Controller PS

A, B or C within the DpMain group.
Status
Shows the current status of the PS:

• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no communication with
the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Online
Shows whether the PS is online or not.
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Master
Shows whether the PS is master or not.

Capability
Shows the capability status, indicating to what extent the process station is
technically capable of fulfilling its intended purpose:
• OK — No errors.
• Common Error — Errors that are common to all process stations in the
redundancy group.
• Degraded — Errors that related to only this process station in the redundancy
group.
• Incapable — The process station is in a state where it should not be used as
the master or online computer.
Running mode
Shows the Running mode:

• Running — The process station is communicating and has finished all start-up
preparations.
• Starting — The process station is communicating, but more start-up preparation
is needed.
• Inactive — The process station is not communicating. It may be initializing or
loading, or not executing at all.
Type
Shows the redundancy type for the redundancy group.

For the DpMain and DpM_IO groups, the following types are relevant: Single,
DPDual and DPTriple.
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Equipment dialog box - OS/HS page

This page shows the status of the operator stations and history stations that are defined
in the system.
How to open
Example
Description
The OS/HS page has a shortcut menu. Right-click anywhere on the page to open the
following menu:
Details
Station
Identification of the OS or HS.
Status
Shows the current status of the OS or HS:
• Operational — OS or HS is operational.
• Not Communicational — OS or HS has reported a status, but no communication
with the OS or HS is possible.
• Not Reported — OS or HS has not reported any status.
• Stopped — OS or HS is not switched on.
Last Reported
Time stamp of last communication.

Format: day/month/year hour:min:sec
Net State
Indicates the state of the A and B network interfaces:

• OK — Both network interfaces are OK.
• A-ERROR — Error on network interface A.
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• B-ERROR — Error on network interface B.

• AB-ERROR — Error on both network interfaces.
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Equipment dialog box - Event Printer page

This page shows the status of the event printers that are configured in the system.
How to open
Example
Description
The operator stations in K-Pos DP are grouped into Print Groups - usually either Main or
Backup - where each group has one event printer. Only one of the operator stations (the
Master) within a print group will send alarm messages to the event printer. If the Master
operator station becomes inactive for any reason, the role of event printer Master passes
automatically to another active Master of the Print Group.
The Event Printer page has a shortcut menu. Right-click anywhere on the page to open
the following menu:
Details
Station
The address of the event printer.

Print Group
The name of the group of operator stations that can print to this printer.
Master
The current master operator station in this print group.

Members
The operator stations that are members of this print group. If an operator station is
not active, its name is shown in parentheses.
Printer Info
Information about the printer status such as Idle or Printing. This information is
provided by the printer interface.
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Equipment dialog box - Net Status page

This page shows the status of the communication network for all operator stations,
history stations and process stations.
How to open
Example
Description
This page contains a window that is divided into two panes. The left-hand pane lists all
stations in the communication network by means of icons and names. Click any icon or
name to open in the right-hand pane the status of the communication network as seen
from the receiving station in the left-hand pane.
If a red A, B or AB is shown superimposed over an icon, this indicates that the station
has a network communication error on net A, B or both.
The right-hand pane is static and once information has been shown it is not updated. You
can update the information either by reselecting the Net Status page or by right-clicking
anywhere on the page to open the following shortcut menu:
Click Print Image to print the content of the current page.

Click Update Statistics to update the statistical information for the selected station
in the right-hand pane.
Click Show only errors to filter the information shown in the right-hand pane so that only
the stations with lost messages are shown.
Details
Sending Station
Identification of the OS, HS or PS sending messages to the receiving station.
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Msg pr. 100 sec
The total number of messages received every 100 seconds on both networks.
Lost Msg Net A
The number of lost messages on network A.

Lost Msg Net B
The number of lost messages on network B.

IpAddress
The Internet Protocol (IP) address of the sending station.
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Event Printer dialog box

When the Event Printer is configured as a page printer, the emergency, alarm and
warning messages are not printed directly but are saved in a buffer. Use this dialog
box to print all the events in the buffer.
How to open
Click System→(Printer Settings) Event printer.
Example
Details
Printer name
The name of the event printer.

Printer type
The type of event printer.

Unprinted events
The number of unprinted messages in the event printer buffer.

Refresh
Use this button to update the information shown in the dialog box.
Flush
Use this button to print all unprinted events on the event printer.
Purge
Use this button to remove some or all unprinted events on the event printer.
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Export Log Files dialog box

It is possible to export messages sent from different logging systems, such as from the
panel driver, from the DP recorder and the process stations.
How to open
Click System→Export log files.
Example
Details
Select time span and file types
Each of the values can be increased or decreased by 1, after selecting the respective
field, for example hours, minutes, etc., or you can enter the value.
Select target for export
Logged data can be exported to the hard drive or to any removable drive. If you
cannot see all the available drives, click Refresh. You can change the drive, but the
folder name is always the same and that is why you are warned that the existing
files in this folder will be removed.
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FW Manager dialog box

The main purpose of the firmware manager is to detect and resolve firmware conflicts
in the installation.
Prerequisites
Caution
Use of this dialog box is not part of the normal operating procedures for the DP system.
It is implemented to facilitate service and installation work performed by trained
personnel from Kongsberg Maritime.
How to open
Click Tools→Firmware manager.
Example
Description
The tree-view shows an overview of the running system, redundancy groups, RCUs,
IO drivers and hardware modules. The detailed information shown depends on the
selected item.
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Gain dialog box

The content of this dialog box will vary according to system configuration. The dialog
box in the system installed on your vessel may show only some of the items shown in
this example.
How to open
Either press the CONTROL SETUP button on the panel or click Settings→(Control) Gain.
Example
Details
Control Mode
Use the option buttons to select from High Precision, Relaxed and Green control
modes.
The In Use check boxes indicate which control mode is currently in use by the
system.
High Precision
This is the default control mode. It is also the control mode setting if control
mode selection is not available in the DP system installed on your vessel.
Gain level and customised gain settings (if available) apply for this control
mode.
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Relaxed
This control mode is available in Auto Position and Mixed Joystick system
modes.
Select the radius using the arrow buttons or entering a value in the Outer
Radius text box. Gain level and customised gain settings (if available) apply
to this control mode.
If it is not possible to use Relaxed control mode when it is selected, the High
Precision control mode will be used.
With Relaxed control mode, the position gains are modified to vary within
the Relaxed control circle. This means that the force setpoint used to bring
the vessel back to the position setpoint is very low when close to the centre
of the control circle. It then increases up to the normal values when close to
the border of the area defined by the radius (the gain varies exponentially
within the area).
Note
The radius for Relaxed control mode is not a position limit, it is only the area
within which the controller gains are very low. If the vessel drifts outside this
area, the gains will increase. How far outside the vessel drifts depends on
the Gain Level settings (the high-medium-low predefined controller gain or
customised controller gain in surge, sway and yaw axes).
Green
This control mode is available in Auto Position system mode.

Select the Outer Radius and Inner Radius using the arrow buttons or entering
a value in the text box.
If it is not possible to use Green when it is selected, the High Precision
control mode will be used.
The Inner Radius and Outer Radius define the working area and the
operational area, respectively. When the inner radius is predicted to be
exceeded, additional thrust is added in a smoother way than if the outer
radius is predicted to be exceeded.
Note
When changing position and/or heading in Green control mode, the control
mode used is automatically temporarily switched to High Precision control
mode. During a heading change the position carrot is set to the present
vessel position. This prevents unnecessary vessel movement. The control
mode will switch back to Green control mode once position and heading
become “Present”. If system selected heading is chosen, the Green control
mode will not be in use.
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Gain Level (High Precision/Relaxed)
The gain level is applicable for High Precision and Relaxed control modes.
High/Medium/Low
Select the required controller gain level using the High/Medium/Low option
buttons. If available, the gain factors in use for each of the three gain levels
are shown in parentheses. The values in parentheses may vary depending on
vessel configuration.
Customised
This setting is optional. Select this option button when you want to perform
customized settings of the gain level. Selecting Customized will make the
High/Medium/Low option buttons unavailable (they will appear dimmed).
After you have selected Customized you can enter the customization setting
for gain factors in the Surge, Sway and Yaw axes using the arrow buttons
or entering a new gain factor in the corresponding text box. The currently
selected gain factors in the Surge, Sway and Yaw axes are shown graphically
above the numerical values.
Speed Constraints (Green)
Speed Constraints are used in Green control mode to limit the vessel speed. You
can select Speed Constraints for the Surge and/or Sway axes. Speed constraints
should be used while operating within a large area.
Gain level for High Precision and Relaxed control mode

There are three predefined controller gain levels available; high, medium and low. The
selected gain level applies to any of the surge, sway and yaw axes when they are under
automatic control and High Precision or Relaxed control mode is used.
If configured, customized setting of the controller gain level can be performed, with
individual gain factor settings for the surge, sway and yaw axes.
Different gain factors for each of the three standard gain levels are defined to suit the
characteristics of the vessel. The deviations in position, speed, heading and rotation rate
are multiplied by the selected gain factor to obtain the required force setpoint.
The most suitable gain level depends on the vessel characteristics, the weather conditions
and the required positioning accuracy. Operational experience plays a large part in
determining the optimum gain level, but the following general points should also be
noted:
• High gain provides the quickest vessel response, the most accurate manoeuvring, and
the smallest positioning window.
• Medium gain provides a slower vessel response than the high gain.
• Low gain provides the slowest vessel response and the largest positioning window.
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For all three predefined controller gain levels, and also for the customized gain levels,
the gain factors are reduced when the position deviation is close to zero. Under ideal
conditions (optimal Vessel Model and constant environmental forces), there will be little
difference between the effect of the various gain levels since the position deviation
will be minimal.
Under less than ideal conditions there can be some variation in the vessel position, and
you should set the gain level to control the speed and extent of the variation according to
the general comments given previously.
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Gyro deviation dialog box

The data from each gyro can be monitored and evaluated using Gyro Deviation
Calculation.
How to open
Click Sensors→Gyro deviation.
Example
Description
This function is based on the fact that the vessel heading can be derived from the relative
positions between two GPS antennas. The error for each gyro is estimated from the
filtered difference between the GPS derived heading and the gyro data. Recommended
minimum antenna separation is 10 metres, and the accuracy of the calculated heading
increases with distance between the antennas.
When sailing at high speed, the used heading may deviate from the calculated heading
due to lack of speed/latitude compensation. After the vessel has stopped, the Correction
value may still be incorrect for some minutes.
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Note
Before correcting for error on the gyro, you should let the Correction value stabilise.
Details
Gyro deviation calculation
The deviation calculation uses the Used Heading values as input for the calculations.
Active
Select this check box to enable Gyro deviation calculation.

Filter time
The default value is the recommended minimum value for your vessel. The
shorter the distance between the GPS antennas, the longer the time required
for data filtering.
Calculated correction
Correction
For each gyro the difference between the calculated heading and the used
heading from the gyro is shown.
You can select to have the Calculated correction value shown as a trend plot
in the Sensors view and in the Trends view using the view-control dialog
boxes for these views.
STD DEV
The Standard Deviation for each estimate is displayed. If the Correction is

one degree or more, and the STD DEV is significantly smaller, you should
correct the error on the gyro.
Based on
This shows which GPSes the calculation is based on.
Related topics
Trends view, page 386
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Heading dialog box

Use this dialog box to define a new heading setpoint and select the strategy for changing
the heading. You can also set the rate of turn.
How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.
Related topics
Heading dialog box - Rate of turn page, page 193
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Heading dialog box - Heading page

Use this page to define the heading setpoint.
How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.
Example
Description
While entering data in the Heading page, before you click OK or Apply, a temporary
heading setpoint symbol is shown in the Posplot view indicating the proposed heading
setpoint.
Note
When changing the heading setpoint, the turn direction will depend on the new heading
setpoint. The shortest turn is always used.
Details
New setpoint
Shows the heading that will be used as the new heading setpoint when you click
OK or Apply. When Operator selected is selected under strategy, you can enter the
heading setpoint by typing the required heading or by increasing or decreasing the
value using the arrow buttons next to the New setpoint spin box.
A temporary heading setpoint symbol is shown in the Posplot view indicating
the proposed heading setpoint.
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Previous setpoint
Shows the previous heading setpoint. Click Use to enter this heading into
the New setpoint box. You can therefore use this feature to return the vessel
to a previous heading.
Offset from present setpoint
Shows the difference in heading between the new setpoint and the present
setpoint. This value is updated dynamically when you enter the new heading
setpoint.
Strategy
System selected
When System selected is selected as strategy, the chosen system-selected

heading is entered into the New setpoint box. When you click OK or Apply,
the system will continue to determine what the heading setpoint should be.
This function is available when the environmental conditions are above a
certain limit. When system heading is selected, the alarm limits are turned
off.
Operator selected
If you choose Operator selected, you can enter the heading setpoint using any
of the other methods described here.
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Heading dialog box - Rate of turn page

Use this page to define the speed at which the vessel should try to rotate during a change
of heading (the vessel's rate of turn).
How to open
Click Positioning→Heading.
Example
Description
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.
Details
New setpoint
Enter the required value in the New setpoint box, or use the arrow buttons to adjust
the setpoint.
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Heading (Setpoint) dialog box

Use this dialog box to change the heading setpoint directly on the Posplot view.
How to open
Click the heading setpoint symbol in the Posplot view.
Example
Description
The values change as you move the symbol on the Posplot view. Click the trackball to
fix the required values and then click OK.
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Heading Setp. dialog box

Use this dialog box to change the heading setpoint when the system is in a mode where
automatic heading control is possible.
How to open
Press the Activate (heading wheel) button once.
Example
Description
The value (in degrees) shown in the dialog is the heading setpoint from the heading
wheel, which changes immediately whenever the wheel is turned, or one of the + and -
buttons is pressed.
Turning the heading wheel to the right increases the value and turning it to the left
decreases the value. Pressing the + (increase) button steps the value up and pressing the -
(decrease) button steps the value down.
The dialog is closed by pressing the SET HEADING button. If the heading wheel is not
turned, or one of the + and - buttons is not pressed within a preset time limit, the dialog
is closed automatically.
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IO Manager dialog box

This dialog box has three pages, which give an overview of the IO interface system, but
only one page is used by the operator. The other two pages are intended for Kongsberg
Maritime personnel only.
How to open
1 Click System→Equipment.
2 In the System Status dialog box right-click anywhere on the PS or PS Redundancy
page.
3 On the shortcut menu click IO Manager.
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IO Manager dialog box - IO Configurator page

In the IO Manager dialog box - IO Configurator page, use the drop-down box to select
the PS for which you will show the IO drivers and IO blocks.
Example
Details
All IO blocks and devices
In the expandable tree view, the symbols are as follows:

1st level, lists the IO driver types ( )
2nd level, lists the IO drivers ( )
3rd level, lists the IO blocks in alphabetical order ( )
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If you click an IO driver name, the corresponding Driver Properties dialog box is
opened.
If you click an IO block name, the corresponding IO Terminal Block dialog box is
opened.
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IO Point Browser dialog box

Use this dialog box to search for IO points for a selected PS, and to show information
about them. This is intended as an aid to fault-finding in the IO system.
How to open
page.
3 On the shortcut menu click IO Point Browser.
Example
Description
If you right-click any IO point tag shown in the browser window, the following shortcut
menu is opened:
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Only some of the commands in the shortcut menu are available for the operator.
• Add Trend to previous popup
Adds a new trend to already created pop-up widow.
• Create Trend in new popup
Starts the procedure for creating a trend for the selected IO point.
• Resize Columns
Resizes the columns shown in the IO Point Browser dialog box to fit the content of
the columns.
• Show IO Block
Views the configuration information for the selected IO Block by viewing the
corresponding IO Terminal Block dialog box.
Details
Station
Use this drop-down list to select either all PSes, or the PS within which you want
to browse.
Tag
Browse Criteria
Use this text box to enter the browse criteria. Wildcard characters can be
used.
Match case
Use this check box to make the browse criteria case sensitive.
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Match whole tag
Use this check box if the browse criteria text is the entire name of the
required IO point.
Match initial tag segment
Use this check box if the browse criteria text is the beginning of the name of
the required IO points.
IO Status
Use these check boxes to restrict the search to IO points which have the specified
status:
• IO OK
• IO Manual
• IO Passive
• IO Error
• IO FailSafe
• IO Error Override
• IO Maintenance
Browse by IO Tag
Use this command button to search for IO points whose name satisfies the specified
browse criteria.
Browse by Module Tag

Details
Click Details to show or hide the sections IO Point Parameters and Eng. Signal
Conditioning in the lower part of the dialog box.
Browse results
The upper-left area shows information about the IO points that satisfy the search
criteria. This is the same information as shown in the IO Terminal Block dialog
box, with one additional column:
• PS — The name of the PS that contains the IO point.
Related topics
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IO Terminal Block dialog box

The dialog box shows information about a selected IO block and its IO points. This is
intended as an aid to fault-finding in the IO system.
How to open
2 In the System Status dialog box right-click on any DpPs line.
3 On the shortcut menu click Station Explorer.
4 Click the required PS from the drop-down list.
5 Expand the appropriate driver to locate the required IO block.
6 Either click the block icon ( ), or click the submenu symbol ( ) and then Show IO
Block from the submenu.
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Example
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Description
The content of this dialog box varies according to the IO driver.
If you right-click on any IO point tag, the following shortcut menu is shown:
Only one of the commands in the shortcut menu is available for the operator.
• Resize Columns
Resizes the columns shown in the IO Points area to fit the content of the columns.
Details
Station explorer
The upper-left area shows the selected IO block, filtered from the expandable tree
structure of the station explorer, and shows the driver, alarm status and the block
tag of the selected IO block.
Tag
The name of the selected IO block.

Description
Describes the selected IO block.

Task
Shows the scan rate for the selected IO block:

• Task 1 — Normal
• Task 2 — Quick
• Task 3 — Rapid
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Auto

Upper-right list box
The upper-right list box shows the IO block properties represented by parameters
and values. When you point at a parameter, a tooltip with additional information
is shown.
IO Points
This area shows information about the IO points for the selected IO block.
Direction
The direction of the data flow:

• Output data flow
• Input data flow
IO tag
The name of the IO signal.

(IO point parameter symbol)
Click this symbol to open the IO Point Parameters section in the lower
part of the dialog box.
Status
The status of the sensor value:

• OK
• Error
• SIM
Sensor value
The sensor value and its units.

(signal conditioning elements)
Symbols representing the signal conditioning elements used, in order of

execution.
Note
When the cursor is positioned over one of the bitmaps representing an IO
signal conditioning element, the name and parameters of the element are
shown in a tooltip.
Eng. value
The engineering value and its units.
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(Eng. status)
The status of the engineering value:

• OK
• Error
• SIM
Connection
For signals that are to be transferred between process stations, this box shows
the name of the NetIO tag that corresponds to this IO point.
Note
If you click a cell in the Connection column, the Connect/Disconnect Terminal
dialog box is opened for the selected IO point. This dialog box has no
function during normal operation.
Details
Click Details to show or hide the sections IO Point Parameters and Eng. Signal
Conditioning in the lower part of the dialog box.
Signal conditioning elements

Signal conditioning elements are used in the IO points of an IO block to parameterize
the input/output process signals and to scale the signals.
All signal conditioning elements are bidirectional, and may be used both on input and
output signals, but some elements are relevant to input signals only.
The symbols are shown between the Sensor value and Engineering value columns in
the IO Points area.
The signal conditioning includes elements for:
• Scaling
• Inversion
• Filtering
• Fail-safe value
• Compensation for wire resistance
The available signal conditioning elements are as follows:
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Icon Element Ana- Digital Input Output Description

name log
Scale X X X Sensor scale maximum
Sensor scale minimum
Sensor unit
Engineering scale maximum
Engineering scale minimum
Engineering unit
Multi scale X X X Number of points
(For each point) Sensor point
(For each point) Engineering point
Sensor unit
Engineering unit
PT 100 X X Wire resistance
Sensor unit
Engineering unit
Engineering X X X Engineering scale maximum
unit
Engineering scale minimum
Engineering unit
Fail-safe X X Fail-safe value
Freeze (check box):
Selected: Last usable value
Not selected: Fail-safe value
Filter X X Filter time (seconds)
Limit check X X X Gain

Bias
Use negative input value
Invert X X X None
Fail-safe X X Fail-safe value

Freeze (check box):
Selected: Last usable value
Not selected: Fail-safe value
Filter X X On delay (seconds)
Off delay (seconds)
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Joystick Calibrate dialog box

Calibration of the joystick ensures that a certain deflection of the joystick corresponds
to a specific thrust, depending on the joystick settings.
Prerequisites
Calibrating the joystick can only be performed by the “Chief” user, and only when
the system is in Standby mode.
How to open
Click Tools→Calibrate joystick.
Example
Description
Calibration is necessary to calibrate the joystick when:
• New hardware has been installed or parts of the hardware (for example the joystick)
have been changed.
• New software has been installed or software has been reinstalled from a disk.
The Joystick Calibrate dialog box contains a description of how to calibrate the joystick.
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Joystick settings dialog box

Use this dialog box to adjust the following settings: joystick thrust, joystick precision,
environmental compensation and current update.
How to open
Either press the JOYSTICK SETUP button on the panel or click Settings→(Modes) Joystick.
Example
Details
Thrust
You can select either full or reduced thrust.

Full
The maximum force available from all thrusters can be used. This increases
the vessel's response to movement of the joystick compared to the Reduced
option.
Reduced
The maximum applied thruster force for axes that are under joystick control
is limited to about 50% of the available force from all thrusters.
The joystick thrust setting can also be changed by pressing the JOY. FULL THRUST
button. The status for the joystick thrust setting will be dynamically updated in
the Joystick settings dialog box to reflect this change.
Precision
The applied thruster force for axes that are under joystick control can be scaled in
various ways. This scaling gives a different response to movement of the joystick,
depending on the configuration and operational requirements of the vessel. The
illustration shows thrust as a function of joystick deflection in the cases of full and
reduced thrust, with High speed, General or Low speed precision.
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High speed
For precise high-speed manoeuvring. At small movements of the joystick the

change in thruster force is large, but decreases with increasing movements.
General
Linear relationship between movement of the joystick and force exerted by

the thrusters. The precision is automatically changed from High speed to
General when changing from high speed to low speed manoeuvring (for
example from Autopilot mode to Joystick mode).
Low speed
For precise low-speed manoeuvring. Progressive relationship between

movement of the joystick and force applied by the thrusters. At small
movements of the joystick the change in thruster force is low, but increases
with increasing movements.
Exponent
This shows the exponent used in the calculation of thrust for the
currently-selected Precision option. This is for information only.
Envir. comp.
When wind compensation is enabled, the system automatically compensates for

the wind forces acting on the vessel by providing the thrusters with the necessary
extra thrust in the appropriate direction. The vessel will react much more quickly
to sudden changes in wind speed and direction.
When position-reference system measurements are available, the system will
calculate the unknown forces, including sea current and wave forces, which are
acting on the vessel (collectively referred to as “current”) and perform automatic
compensation for these forces.
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Environmental compensation is always performed when selected, but the

compensation due to “current” forces is zero if no position-reference system has
been accepted or if Current upd. is not selected.
Current upd.
Current update is enabled by default. You must deselect the required

Surge/Sway/Yaw check boxes if you do not want the system to compensate for the
calculated “current” forces for axes under joystick control.
Related topics
Joystick view, page 324
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Local N/E properties dialog box

Use this dialog box to define the properties of the local north/east coordinate system
selected for the position presentation.
How to open
Click View→(Presentation) Position. Then on the Position presentation dialog box select
Local N/E coordinate system and then click the Local N/E properties option button.
Example
Details
Use reference system origin
Select between a system-selected or operator-specified position of origin. When

this check box is selected, the position data of the reference origin is subtracted
from the position information received by the system.
An operator-specified position of origin cannot differ from the actual position by
more than 20000 metres. If you try to enter a position of origin that is too far from
the actual position, a message is shown informing you about the error.
Datum and Position of origin are unavailable when the check box is selected. Leave
the check box unselected if you want to use an operator-specified position of origin.
Datum
Select the required datum for position of origin (in this dialog box only).
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Position of origin
Enter the coordinates of the position of the origin and select the format of the
position of origin (in this dialog box only).
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Numeric entry keypad dialog use dialog box

Use this dialog box to manually enter numeric values in dialog boxes.
How to open
Click Tools→Numeric entry dialog.
Example
Description
When the check box is selected the function is enabled and the Enter value dialog box is
opened whenever you click a numeric field in a dialog box. For example:
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If you want to test the function click inside the Enter a numeric valuetext box. The
Enter value dialog box is opened and you can use the trackball to enter values, move the
cursor inside the text box and delete digits.
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Panel Lamp Test dialog box

You can test the panel status lamps, alarm lamps and the audible signal at any time.
How to open
Click View→(Panel) Lamp test.
Example
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Panel Light Configuration dialog box

You can set the required light intensity for the status lamps on the operator panel, and for
the background lamps in the buttons themselves.
How to open
Click View→(Panel) Light configuration.
Example
Details
Palette
The asterisk (*) shows which display palette is currently in use.

Indicator Lights
From the drop-down list you can select the required light intensity for the indicator
lamps for the respective palettes. Available values are Bright, Normal, Dimmed,
Very Dimmed and Off.
Background lights
From the drop-down list you can select the required light intensity for the
background lamps for the respective palettes. Available values are Bright, Normal,
Dimmed, Very Dimmed and Off.
Lamp Test
Clicking the button starts the test.
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Position dialog box

Use this dialog box to define the new position setpoint in different ways: relative to
existing setpoint, using range and bearing or using absolute coordinates. You can also
specify the speed at which the vessel will try to move during a change of position.
Prerequisites
This dialog box is only available in Auto Position mode.
How to open
Either press the CHANGE POSITION button on the panel or click Positioning→Position.
Related topics
Position dialog box - Inc page, page 219
Position dialog box - R/B page, page 221
Position dialog box - Abs page, page 223
Position dialog box - Speed page, page 225
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Position dialog box - Inc page

Use this page to define the position setpoint relative to the existing setpoint.
Prerequisites
How to open
Example
Description
You can select relative or true increments. An increment value can be entered into the
increment spin box. Use the arrow buttons next to the increment spin box to adjust
the size of the increment.
Details
New setpoint
Shows the coordinates that will be used for the new position setpoint when you
click OK or Apply.
A temporary setpoint symbol is shown in the Posplot view indicating the position
of the new setpoint relative to the present setpoint.
Relative
This applies the increments in the directions Ahead/Astern/Port/Starboard.
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True
This applies the increments in the directions North/South/East/West.

Ahead/Astern/PORT/STBD
To add the selected increment in a particular direction to the new setpoint

coordinates, click Ahead/Astern/Port/Starboard or North/South/East/West as
appropriate. Each time you click one of these, the new setpoint coordinates
are adjusted and the temporary setpoint symbol in the Posplot view is moved
accordingly.
From present setpoint to new setpoint
Shows the range and true bearing from the present setpoint position to the new
setpoint position.
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Position dialog box - R/B page

Use this page to define the position setpoint using range and bearing.
Prerequisites
How to open
Example
Details
New setpoint
click OK or Apply.
To define a new position setpoint, enter the range and bearing in the Range and
Bearing text boxes.
Start position
Choose whether the new position setpoint is to be calculated relative to the present
setpoint or the present position by selecting the matching option button.
Bearing
Select either true or relative bearing by selecting the matching option button.
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setpoint position.
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Position dialog box - Abs page

Use this page to define the position setpoint using absolute coordinates.
Prerequisites
How to open
Press the CHANGE POSITION button or click Positioning→Position.
Example
Details
New setpoint
click OK or Apply.
You can enter new setpoint coordinates by entering the required coordinates
directly in the New setpoint boxes.
Previous setpoint
Shows the coordinates of the previous position setpoint. Clicking the Use button
writes these coordinates into the New setpoint text boxes. This feature can be used
to return the vessel to a previous position.
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setpoint position.
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Position dialog box - Speed page

Use this page to specify the speed at which the vessel should try to move during a
change of position.
Prerequisites
How to open
Example
Details
New setpoint
Enter the required value in the New setpoint spin box, or use the arrow buttons
to adjust the setpoint by the selected increment or decrement defined in the
Increase/Decrease speed step spin box.
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Position inc dialog box

Use this dialog box in operations that require frequent changes of position setpoint.
How to open
Click Positioning→Position increment.
Example
Description
An increment value can be entered into the increment spin box. Use the arrow buttons
next to the increment spin box to adjust the size of the increment.
Details
Ahead/Astern/PORT/STBD
To add the selected increment in a particular direction to the new setpoint

coordinates, click Ahead/Astern/Port/Starboard or North/South/East/West as
appropriate. Each time you click one of these, the new setpoint coordinates
are adjusted and the temporary setpoint symbol in the Posplot view is moved
accordingly.
Range
Shows the range from the present setpoint position to the new setpoint position.
True Bearing
Shows the true bearing from the present setpoint position to the new setpoint
position.
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Position R/B dialog box

Use this dialog box in operations that require frequent changes of position setpoint.
How to open
Click Positioning→Position range/bearing.
Example
Details
Range
Enter the range from the present setpoint to the new setpoint in this text box.
True bearing
Enter the true bearing from the present setpoint to the new setpoint in this text box.
A temporary setpoint symbol is shown in the Posplot view indicating the position of the
new setpoint relative to the present setpoint.
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Position presentation dialog box

Use this dialog box to select the display format for positions.
How to open
Click View→(Presentation) Position.
Example
This dialog box changes appearance according to the selected coordinate system.
Description
The most appropriate display presentation for position information depends on the
operational situation. For example, if you are using only a local position-reference
system such as HPR, then you will normally use a Local N/E presentation.
If UTM, Geographic or US state plane presentation is selected for position coordinates, a
presentation datum for the shown positions must be selected because a global position
must be related to a specific datum if it is to be unambiguous.
Position presentation in global coordinates may be inaccurate when a local
position-reference system is providing the reference origin.
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Details
Datum
The available datum formats can be selected from the drop-down list.
If Local datum is used, you must click the Details button to define all the required
transformation parameters.
Details
Click this button to open a dialog box which deals with definition of datum
transformation parameters.
Co-ordinate system
Select the coordinate system to be used for showing position information.

Local N/E
Displays positions in a local north/east coordinate system. The positions are

presented as north/east coordinates relative to the local origin point. If you
select this option you can (if configured) select between a system-selected or
operator-specified position of origin.
The length unit to be used is specified by the Length Unit option.
UTM
Shows positions in the Universal Transverse Mercator projection. Positions

are represented by north and east distance and UTM zone (with compensation
for false northing and false easting if appropriate). If you select this option,
you must also select the datum that is to be used for the conversion from the
internal coordinate system to these coordinates.
The length unit to be used is specified by the Length Unit option.
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Geographic
Shows positions in a global geographic coordinate system. Positions are

presented as latitude and longitude in the format specified by the Format
option. If you select this option, you must also select the datum that is to be
used for the conversion from the internal coordinate representation to these
coordinates.
US state plane
Shows positions in the US State Plane coordinate system. Positions are

represented by north and east distance to the origin of the State Plane zone.
If you select this option you must also select the datum that is to be used for
the conversion from the internal coordinate system to these coordinates.
State plane zone
If US state plane is used, the State plane zone drop-down list allows you to
select the relevant state plane zone to be used.
Length unit
The Length unit part of the dialog box changes according to the coordinate system
selected. For Local N/E, UTM and US state plane presentations, you can select the
length unit to be used. For Geographic presentation, you can select the display
format for latitude and longitude.
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Position (Setpoint) dialog box

Use this dialog box to change the position setpoint directly on the Posplot view.
How to open
Click the position setpoint symbol in the Posplot view.
Example
Description
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Power optimal allocation dialog box

Power optimal allocation is the primary barrier for preventing blackouts. Use this dialog
box to set the mode for the Power Optimal Allocation function.
How to open
Click Thruster→Power optimal allocation.
Example
Description
The power optimal allocation will first of all allocate thrust within the given power
limitations (denoted Normal mode).
For vessels with many separate switchboards it might be interesting to share the power
demand among them with respect to different optimization criteria.
Note
The available optimization criteria depend on the actual switchboard connections.
Insufficient thrust will result in automatic change to Normal mode.
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Details
Normal
In this mode the power optimal allocation will first of all allocate thrust within
the given power limitations.
Even load
In this mode the thrust is allocated so that the load is as even and as low as
possible on all connect-switchboards. The mode can also be used to prevent
unnecessary automatic standby start of generators and to give less wear and tear
on the generators.
Even load (with zero bus-tie current flow)
In this mode the thrust is allocated so that the current through the operator-defined
bus-tie is as low as possible. This functionality utilizes the interface for
heavy-consumer load (one per switchboard). The hotel load is assumed to be
shared equally on the switchboards in a connect-switchboard.
Reduced swbd load
In this mode the operator can specify wanted maximum power consumption on
one or more connect-switchboards. K-Pos DP will allocate thrust so that the limits
are normally not exceeded. The limits will be exceeded only to avoid insufficient
thrust, and will therefore not reduce the DP capability in any way. The mode
can be used to prevent automatic standby start of generators on operator-selected
connect-switchboards. It can also be used to increase load on not selected
connect-switchboards to “clean” the associated diesel engines.
Related topics
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Preselect dialog box

Use this dialog box to quickly access recorded view selections and record new view
selections.
How to open
From the side bar click Preselected→Settings.
Note
For systems without a side bar use View→Preselect and View→Use Preselect.
Example
Details
Inspect recorded view-selections:
You can inspect the set of display views currently linked to a number on the menu
by clicking the associated button. The display view titles are then shown in the
layout in the dialog box.
Record NEW view-selection:
While the Preselect dialog box is opened, select the required views in the display
areas, and then click the appropriate numbered button in the dialog box. When you
click Close, these views are linked to the respective button.
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These numbered buttons can also be preconfigured to be either

operator-programmable or not. All numbered buttons which are not
operator-programmable appear dimmed in the Preselect dialog box. The
views shown when a corresponding number on the side bar is selected, are all
preconfigured.
You can also give names to the sets of views using the Configure names button.
To enter a name, click Keyboard:
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Presentation units dialog box

You can select which set of units to use for the display and entry of values. If configured
for your system, you can also specify presentation units other than those available in
the list.
How to open
Click View→(Presentation) Units.
Description
Note
Only presentation sets for User Definable can be edited.
Whether the Presentation units dialog box is shown as a compact version or as an extended
version, depends on which version was shown the last time the dialog box was closed.
Example — vessel and sea current speed

This is applicable to the presentation sets User Definable 1 and User Definable 2.
For vessel and sea current speed there are two display formats for knots, either knots (1
decimal point accuracy) or knots (accurate) (2 decimal point accuracy).
For sea current speed there are also two display formats for meter/second, either
meter/second (1 decimal point accuracy) or meter/second (accurate) (2 decimal point
accuracy).
The rest of the speed units have only one display format.
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Example — wind, waves and sea current direction

This is applicable to the presentation sets User Definable 1 and User Definable 2.
For wind, waves and sea current, it is possible to specify whether the indicated directions
are to be interpreted as “comes from” or “goes to”.
When goes to is selected, the indicated directions in dialog boxes and views are shown
with “s.” in front of the unit. The “s” means “setting” (goes to).
In display views such as the Posplot view, the arrows indicating wind and current
directions point towards the plot when comes from is selected, and outwards when goes
to is selected.
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Print status dialog box

Use this dialog box to print the status page or to request repeated printouts.
How to open
Click System→(Printer settings) Print status.
Example
Description
You can print a predefined set of system status data on the event printer connected to
the operator station. You can either request an immediate printout or request repeated
printouts with a given time interval.
Details
Print status
Click this button to request an immediate printout of the status page.

Cyclic print control
Select Cyclic print if you want a cyclic printout to be made automatically after a
specified interval. This can only be selected from the operator station in command.
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Quick model dialog box

Use this dialog box to adjust the mathematical model to correct more quickly for a
persistent offset in position or heading.
Prerequisites
This function should only be used when the position and heading deviation is stable.
Do not enable this function if the position or heading deviation is oscillating around
the desired setpoint.
Description
All the forces acting on the vessel that are not measured directly, such as waves and sea
current, together with any errors in the measured forces, are calculated over a period of
time by the vessel model, and the appropriate thrust is applied to counteract them. These
unknown forces are presented for the operator as residual, either as current or force.
Under normal sea conditions, the major components of the residual force change only
slowly, and the best positioning performance is achieved by calculating them over a
long period of time.
During some operations, significant and rapid changes in residual forces can occur.
For example:
• When manoeuvring in channels, rivers, harbours or around breakwaters, or in areas
with loop current, there may be sudden changes in the current.
• When relatively large forces are not measured accurately, such as the pipe tension in a
pipe-laying operation, there may be sudden errors in the measured forces.
Such sudden changes in the residual forces would normally result in a position offset
which would then be slowly corrected. When selected by the operator, the Quick Model
Update function prepares the system for sudden changes in the residual forces by
adjusting the mathematical model accordingly and in this way ensures more accurate
positioning.
The reaction rate can be specified separately for each axis.
A timer is included so that the Quick Model Update function is automatically switched
off after a specified period.
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How to open
Click Settings→(General) Quick model.
Example
Details
Enable
Enable or disable the Quick Model Update function.

Duration
The duration of the function, after which it will be automatically switched off.
Time left
The timer starts when you select Enable and then click OK or Apply. The Time left
field shows the time remaining before the function will be automatically disabled.
Error gain modification factors
A gain modification factor can be specified for each axis. The factor is specified as
a percentage of the normal reaction to deviation in that axis caused by “current”
forces. A larger factor results in a larger reaction and thereby a shorter integration
time for the “current” forces.
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RBUS IO Image dialog box

This dialog box provides a graphical view of the status of the RBUS IO cards. This is
intended as an aid to fault-finding in the IO system.
How to open
page.
3 On the shortcut menu click IO Manager.
4 Select the required PS from the drop-down list.
5 Expand the IO Manager to locate the RBUSDriver.
6 Click the sub-menu symbol and then Show RBUS IO Image.
Use the two buttons and to select between overview level or detailed level.
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Example
Overview level
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Detailed level
Description
The RBUS IO Image can be opened either in the overview level or the detailed level:
• When the overview level is selected, the display corresponds to the physical layout of
the IO cards as you see them in the IO cabinet.
• When the detailed level is selected, more detailed card and rack information is shown.
The detailed level is intended primarily for Kongsberg Maritime personnel.
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Details
The tool bar
Shows the overview level of the RBUS IO Image.
Shows the detailed level of the RBUS IO Image.
Shows “out-of-rack” cards. Not relevant during normal operation.
Use this drop-down list to select any other PSes .

Appears when an IO card is selected. Hides/shows the IO Terminal Block
dialog box for the selected IO card.
If you click an IO card, the IO Terminal Block dialog box is opened showing
information about the selected IO card and its IO channels.
If you right-click on an IO card, a shortcut menu is opened:
• Show IO Block opens the IO Terminal Block dialog box, showing information about
the selected IO card and its IO channels.
• If the IO card has an error condition, you can click System Events for Node or System
Events for Node and Subnodes to open the Event List containing the relevant alarms.
Related topics
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Redundant Stations dialog box

In a redundant system you can monitor the status of each station and change the master
station if required by the situation.
How to open
Click System→Redundant stations.
Example
Dual system
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Triple system
Details
PS Groups
Select the target controller PS group for all commands and operational status of
the dialog box from this list.
Redundancy Status
Master
The current master PS is indicated in the appropriate check box. The master
PS is designated for specific tasks only done by a single PS on behalf of
the redundancy group.
You can click Set to select the corresponding process station as the master.
Online
The process station that contributes to control the process is online.

In a dual (or degraded triple) system only the Master PS may be online and
this is indicated in the relevant check box.
In a fully operational triple redundant system with redundancy voting, all
three process stations are online and this is indicated in the relevant check
boxes.
Capability
Shows the Capability status (i.e. to which extent the PS is technically capable
of fulfilling its intended purpose).
• OK — No errors.
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• Common Error — Errors that are common to all PSes in the controller
PS group.
• Degraded — Errors that are restricted to one of the PSes in the group.
• Incapable — The PS is in a state where it should not be used as the master
or online PS.
Mode
Running modes are defined to structure the start-up phase, before a PS is

ready to take control.
• Inactive — The PS is not communicating. It may be in the process of
initiating or loading, or not executing at all.
• Starting — The PS is communicating, but more preparation is needed. In
particular, it may be necessary to initiate IO devices and detect their state.
• Learning — The PS is communicating and has been initiated, but is in the
process of retrieving information from other PSes, which are in Running
mode. This mode can also be entered from Running mode in cases where
normal operation has been interrupted for a while.
• Running — The PS is communicating, and has finished all start-up
preparations.
Redundancy Control
Redundancy type
Shows the redundancy type for the selected controller PS group. Only
Single, Dual and Triple are relevant for DP purposes.
PS fault tolerance
This is the number of PSes that can fail without losing control of the system.
For a single system this number is 0, for a fully operational dual system it is
1, and for a fully operational triple system it is 2.
Update Offline
In the event of deviation between the two PSes in a dual (or degraded triple)
system, click Update Offline to update the offline PS.
Update Offline is unavailable for a fully operational triple redundant system.
If a failure is detected in PS A, B or C, the system continues operating
as a dual redundant system and the Update Offline functionality becomes
available.
If a failure is detected in PS A or B in a dual system (or in two of the three
PSes in a triple system), the Update Offline button on the dialog box becomes
unavailable. The system continues operating as a single system.
A message about the status of the last “Update Offline” is shown below the
Update Offline button, for example:
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Last update offline OK

Error Objects
Error objects are used to report the presence of failures that may lead to an
automatic switch from one PS to another.
If you right-click in the Error Objects area, the following shortcut menu is opened:
In Error
The PS(es) on which the failure is detected.
Overruled
It can be useful to be able to overrule the automatic detection of failures,
especially in cases of instability. This is done by right-clicking the relevant
error and clicking Permanent On (the error is regarded as being permanently
present) or Permanent Off (the error is regarded as being permanently absent)
on the shortcut menu.
Description
A list of the failures.
(Status field in the lower left corner)
Shows the current status of the selected controller PS group (Ready, Requesting
information, Request for configuration failed, Request for capability failed, Request
for state failed, Switching of Master failed or Error when changing permanent
settings).
Do not list error objects...
When the check box is not selected all error object will be listed in the Description
column. Select this check box if you want to reduce the list and show only error
objects in the state of “Overruled” or “In Error”.
PS Operation...
Not relevant during normal operation.
Refresh
Click this button to update the content of the dialog box with the current
operational status.
Error objects
A system surveillance function keeps track of the extent to which the controller PS and
its associated IO equipment is technically capable of fulfilling its intended purpose.
The IO drivers and different system health monitoring functions automatically register
“error objects”. Each error object is identified with a unique name and is used to
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report the presence or absence of errors. By communicating with other members of

the redundancy group, the system keeps track of which errors are shared between all
controller PSes in the group (common errors), which ones are exclusive to one controller
PS and which ones that make the PS incapable of controlling the process.
No weights are assigned to errors. Neither is the number of errors significant. What
makes a PS “more capable” than another is defined by the following list in the order of
falling capability:
• OK — A PS without errors
• Common error — A PS with only common errors
• Degraded — A PS with separate errors
• Incapable — An incapable, but running PS
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Reference system dialog box

How to open
Click Sensors→(Reference systems) Reference system.
Related topics
Reference system dialog box - Weight page, page 252
Reference system dialog box - Validation page, page 254
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Reference system dialog box - Enable page

How to open
Example
Description
The Monitor and Enable check boxes for each position-reference system are mutually
exclusive. If the Monitor check box of an enabled position-reference system is selected,
this position-reference system is disabled. If the Enable check box of a monitored
position-reference system is selected, Monitor is deselected for this system.
Details
Accepted
The check boxes show which position-reference systems are currently accepted.
Monitor
Check boxes for selecting position-reference systems to monitor.

A reference system enabled for monitoring will not influence the DP model and it
will not be included as an active reference system for the median test. Apart from
this all other tests are active.
Enable
Check boxes to enable or disable each of the available reference systems.
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Reference system dialog box - Weight page

How to open
Example
Details
Normal
Provides standard relative weight between the enabled position-reference systems,

i.e. all systems with equal estimated variance have equal weights.
Reduced GPS weight
Reduces the influence from the measured GPS positions relative to measurements
from other position-reference systems.
Reduced GPS weight is especially important if you have an oscillating GPS system,
as often will be the case in equatorial waters due to ionospheric degradation of
GPS. In this way a position-reference system with slow update rate, such as an
LBL system, will have greater influence on the model than a GPS system with
faster update rate.
Example showing typical relative weights when using 2 GPSes and 1 LBL with
similar accuracy levels:
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GPS-1 GPS-2 HPR

Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
The relative weights used are shown in the Reference system main view.
Related topics
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Reference system dialog box - Validation page

How to open
Example
Details
Acceptance limits
The acceptance limit for the Prediction test and indirectly also the Median test can
be changed.
Narrow
Narrow limit. Corresponds to a minimum prediction error circle with a

small radius. The radius may still increase due to increased noise in the
position-reference system. Narrow is recommended when operating in calm
weather and with requirements for accurate station-keeping. If all available
(or the dominating) position reference exhibit an erroneous drift in position,
the system(s) will also be rejected at an early stage before the vessel is
significantly affected by the wrong measurements.
Normal
Medium limit. The same minimum prediction error limit as for Narrow is
used. There is an additional feedback mechanism where the actual deviation
from the model is used to increase the prediction error limit up to a maximum
of 2 to 3 times the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the actual
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movement of the vessel. This is especially relevant when operating in rough

sea. It is also applicable for a vessel operating with another vessel alongside.
A negative side effect of this setting is that the system will, to a larger extent
than with the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A minimum prediction error circle with an increased radius

compared to the other two settings is used. The same feedback mechanism
as for Normal is used, and the maximum value of the prediction error is also
increased. Wide is suitable, for example, for sailing at high speed.
Median test
The settings of the Median test can be changed.

Off
Turns off the median testing. This is indicated with the text OFF in the
Median test field in the Reference system main view, and by removal of the
median test limit circle from the plot in the Reference system main view.
Warning
Turns on the median testing. When selected, a deviation warning is given if

the difference between the position data from a specific position-reference
system and the median of all online reference systems exceeds a preset
warning limit.
Warning can be preferable compared to Warning and reject in some instances.
For example, when operating with two GPSes and one or two HPR systems,
and the GPSes have similar failures, Warning and reject could lead to
rejection of the HPR by the median test.
Warning and reject
Turns on the median testing. When selected, a reject warning is given if

combined warning and reject limit. The position-reference system is rejected.
The median test limit circle is shown on the plot in the Reference system
main view, together with the limit value in the Median Test field.
Related topics
Median test, page 123
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Reference system origin dialog box

You can change several parameters for each position-reference system in use to achieve
optimal positioning measurements.
How to open
Click Sensors→(Reference systems) Origin.
Example
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Details
Position properties
Select the required Datum for position presentation to be used in this dialog box.
Select the format of the position of origin, either Geographic, UTM or US state plane.
System origin
ID
Select the position sources to use for the required position-reference systems
from the drop-down lists.
Fix
The operator may choose to fix the reference origin of one or more reference
systems. A reference system with a fixed reference origin will not be
calibrated towards the model. Fixed reference origins can be specified by
typing the coordinates and selecting Fix. This is useful when the reference
origin is known, for example the position of an HPR or LBL transponder
relative to a BOP or an Artemis Fix antenna.
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Reference system properties dialog box

You can change several parameters for each position-reference system in use to achieve
optimal positioning measurements.
How to open
Click Sensors→(Reference systems) Properties.
Example
The dialog box with details shown:
Details
Weight
You can change the position-reference system’s relative weight.

Normal
Provides standard relative weight between the enabled position-reference

systems, i.e. all systems with equal estimated variance have equal weights.
Reduced GPS weight
Reduces the influence from the measured GPS positions relative to

measurements from other position-reference systems.
Reduced GPS weight is especially important if you have an oscillating GPS
system, as often will be the case in equatorial waters due to ionospheric
degradation of GPS. In this way a position-reference system with slow
update rate, such as an LBL system, will have greater influence on the model
than a GPS system with faster update rate.
Example showing typical relative weights when using 2 GPSes and 1 LBL
with similar accuracy levels:
GPS-1 GPS-2 HPR

Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
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The relative weights used are shown in the Reference system main view.
Acceptance limits
The acceptance limit for the Prediction test and indirectly also the Median test can
be changed.
Narrow
Narrow limit. Corresponds to a minimum prediction error circle with a
small radius. The radius may still increase due to increased noise in the
position-reference system. Narrow is recommended when operating in calm
weather and with requirements for accurate station-keeping. If all available
(or the dominating) position reference exhibit an erroneous drift in position,
the system(s) will also be rejected at an early stage before the vessel is
significantly affected by the wrong measurements.
Normal
Medium limit. The same minimum prediction error limit as for Narrow is
used. There is an additional feedback mechanism where the actual deviation
from the model is used to increase the prediction error limit up to a maximum
of 2 to 3 times the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the actual
movement of the vessel. This is especially relevant when operating in rough
sea. It is also applicable for a vessel operating with another vessel alongside.
A negative side effect of this setting is that the system will, to a larger extent
than with the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A minimum prediction error circle with an increased radius
compared to the other two settings is used. The same feedback mechanism
as for Normal is used, and the maximum value of the prediction error is also
increased. Wide is suitable, for example, for sailing at high speed.
Median test
The settings of the Median test can be changed.
Off
Turns off the median testing. This is indicated with the text OFF in the
Median test field in the Reference system main view, and by removal of the
median test limit circle from the plot in the Reference system main view.
Warning
Turns on the median testing. When selected, a deviation warning is given if
warning limit.
Warning can be preferable compared to Warning and reject in some instances.
For example, when operating with two GPSes and one or two HPR systems,
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and the GPSes have similar failures, Warning and reject could lead to
rejection of the HPR by the median test.
Warning and reject
Turns on the median testing. When selected, a reject warning is given if

combined warning and reject limit. The position-reference system is rejected.
The median test limit circle is shown on the plot in the Reference system
main view, together with the limit value in the Median Test field.
Related topics
Datum details dialog box, page 168
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Reference system settings dialog box

Use this dialog box to change the characteristics, update period and accuracy of a
position-reference system.
How to open
Click Sensors→(Reference systems) Settings.
Example
Description
The characteristics of the position-reference system can only be defined when it is not
enabled for use or monitoring, whereas the update period and accuracy can be specified
while in operation.
The Reference system settings dialog box can be used to define the input conversion that
is required for each position-reference system:
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• For global reference systems, you must specify the datum that is used by that system
so that the position information can be converted to the selected system datum.
• For all reference systems, you can specify the offset from the antenna or sensor head
on the vessel to the vessel's midships position, so that the position information can be
adjusted for this offset.
Depending on the selected reference system the dialog box may have different
appearance.
Details
Reference system
Select the name of the reference system from the list. If you have changed the
properties of a reference system, and then selected another system from the list, a
dialog box is opened prompting you to save the changes.
TP NO
This is the transponder number for reference system with more than one
transponder.
TP ID
Each transponder for every reference system has a pre-difined ID name.

Datum
For a global reference system, the datum in which the position measurements are
received. If this datum is different from the selected system datum (WGS84),
conversion to the system datum will be performed.
If position information from a global reference system is based on a predefined
datum other than those present in the Datum drop-down list, you can select
Local-datum from this drop-down list. You must then use the Position presentation
dialog box and Datum details dialog box to define the required transformation
parameters.
System / TP mode
The Accepted check boxes show which position-reference systems and/or

individual position sources are currently enabled and accepted. The Monitor,
Enable and Disable option buttons are used for selecting position-reference systems
and individual position sources to monitor, enable and disable, respectively.
A reference system enabled for monitoring will not influence the DP model (zero
weight), and it will not be included as an active reference system for the median
test. Apart from this all other reference system checking is active.
For reference systems with mobile transponders there is an additional check box
Mobile, to define the transponder as mobile or not
Plot
You can select to show the trend plot on the Reference system main view with a
defined time span.
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Position
TP coordinates
Raw position
CG Offset
Specify the offset (Ahead, STBD and Down) from the antenna or sensor head
on the vessel to the vessel's centre of gravity (Midships). The received position
information is then adjusted for this offset.
Note
Some position-reference systems have internal adjustments to centre of gravity.
For these systems, the received position information should not be adjusted by
the DP system.
Expected values
Specify an update period and an accuracy for the selected position-reference

system. The update period is mostly used for HPR systems. To avoid unnecessary
timeout warnings, you can extend the update period and thus the time before a
warning is issued. The accuracy value is used for calibration purposes and when
testing the accuracy of the position-reference system. If calibration fails, increase
the value to ease calibration of a position-reference system. Note that the higher
the value entered in the Accuracy text box, the wider the limits for the tests on
Error ellipse
The system calculates a variance of the measurements for each position-reference

system. Based on these calculations, the system places different weighting on
their measurements according to each system’s individual quality and gives
more emphasis on the position-reference systems that are providing the best
measurements. The higher the system’s variance, the lower its weighting factor.
In addition, an error ellipse may be used while calculating the accuracy of the
measurements - check box selected.
For some reference systems this error ellipse can be too large and pessimistic,
resulting in lower weighting of the reference system than necessary. Deselect
the check box to switch off the function for including the error ellipse in the
calculations.
To change the selection of the function, the reference system should be deselected
(the respective button on the panel unlit).
Depending on the type of position-reference system and its internal settings, this
function can be permanently set to on or off and not available for the operator to
select it.
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Reset controller PS dialog box

Use this dialog box to reset a controller PS in the event of a software problem.
Prerequisites
Before resetting a controller PS in a dual-redundant or triple-redundant system using the
Reset controller PS dialog box, you should ensure that another controller PS is operational
and is selected as the master computer.
How to open
Click System→Reset controller PS.
Example
Description
To reset a controller PS, select the Controller PS to be reset and then click OK or Apply.
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Rotation center dialog box

This rotation centre is used when both the vessel heading and position is under automatic
control. The coordinates of the rotation centre can be either predefined or manually
entered. A manually entered rotation centre can be located anywhere, even outside
the vessel itself.
How to open
Click Settings→(Control) Rotation center.
Example
Description
Up to 20 rotation centres can be predefined for the vessel in fixed positions relative to the
midships position on the vessel.
A suitable configuration of thrusters must be enabled. For example, if you want the
vessel to rotate about the aft part of the vessel, there must be at least one thruster enabled
forward of the vessel centre.
If thrusters are disabled so that the selected rotation centre no longer can be applied, the
rotation centre in use will automatically be changed.
Midships is the default rotation centre and is used when the following message is shown:
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Details
Select rotation center
The available rotation centres are shown in the Select rotation center group box.
When a predefined rotation centre is selected, its coordinates are shown in the
Ahead and STBD boxes.
Requires surge and sway control
The rotation centres defined or selected here are active only during automatic
surge and sway control.
If Other is selected, the drop-down list, from which you can select a predefined
rotation centre, becomes available, and the dialog box is enlarged to show a
Preview display. The intersection of the horizontal and vertical lines in the Preview
in the Rotation center dialog box marks the midships position on the vessel.
When a rotation centre is selected in the drop-down list, its coordinates are shown
in the Ahead/Astern and STBD/PORT boxes and in the Preview display. All
coordinates are measured relative to the midships position.
If User Defined is selected in the drop-down list box, the coordinates of the required
rotation centre can be entered directly in the Ahead/Astern and STBD/PORT boxes.
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In use
The In Use boxes show the coordinates of the currently active rotation centre in the
Ahead/Astern and STBD/PORT axes.
An brown circle in the Preview shows the position of the currently-active rotation
centre (In Use). A blue circle shows the position of the proposed rotation centre
(Selected). When the selected rotation centre becomes in use, the two circles have
the same position:
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Sensors dialog box

This dialog box can have several pages depending on the sensors installed on the vessel.
How to open
Click Sensors and the name of the respective sensor.
Related topics
Sensors dialog box - Draught page, page 269
Sensors dialog box - Gyro page, page 271
Sensors dialog box - Rate of turn page, page 273
Sensors dialog box - VRS page, page 278
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Sensors dialog box - Draught page

Use this page to select and control the source of vessel draught information.
How to open
Click Sensors→Draught.
Example
Description
For optimal positioning performance, the system must have accurate information
regarding the vessel's draught at all times. The vessel draught can either be specified by
the operator or measured by a draught sensor.
If the information from the draught sensors is correct and reliable, then this should be
used in preference to manually-entered or fixed values.
box in the system installed on your vessel may display only some of the items shown in
this example.
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Details
Sensor
When Sensor is selected, you can specify the draught sensor that is to be used.
Each draught sensor has an associated Enable check box. Selecting this check box
enables the signals from this draught sensor for use by the system. If more than
one sensor is enabled, the system uses the average of all the enabled sensors. The
sensor currently used by the system is indicated in the In Use check box. If Sensor
is selected but no sensors are enabled, the manual value is used by the system.
Operational
When Operational is selected, the predefined operational draught value is used

by the system.
Transit
When Transit is selected, the predefined transit draught value is used by the system.
Manual
When Manual is selected, the draught value entered under Fixed draught is used
by the system. If you try to enter a value that is too high or too low, the value is
rejected by the system and a message about the legal range for draught is shown.
Used draught
Shows the draught value that is currently used by the system. This field is for
information only.
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Sensors dialog box - Gyro page

Use this page to select and control the source of gyro information.
How to open
Either press the Gyro button on the panel or click Sensors→Gyro.
Example
Details
OK
The OK status for each gyrocompass is shown in the corresponding OK check box.
The status for all channels from the gyrocompass must be OK for the check box to
be selected. This check box is for information only.
Enable
Each gyrocompass has an associated Enable check box. Selecting this check box
enables the signals from the gyrocompass. The system will automatically disable
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a gyrocompass if it is not OK. The Enable check box is deselected and made
unavailable.
Preference
Specify which gyrocompass is preferred for use by the system.

In use
The gyrocompass that is currently used by the system to calculate the vessel's
heading is indicated in the In use check box. If the gyrocompass is not OK or a
failure is detected, the check box is deselected and the system will automatically
switch to another gyrocompass enabled for use.
Gyro heading
The measured heading from the gyrocompass.

Added correction
Specify a gyrocompass correction to compensate for a possible offset of the

vessel’s gyrocompass for example compared with a surveyor's gyrocompass. The
text box is unavailable and appears dimmed when the corresponding gyrocompass
is enabled.
Note
To ensure consistent data for all users of a gyrocompass, it is recommended to
adjust the gyrocompass itself.
Used heading
The measured heading from the gyrocompass with added correction.

Note
The gyro deviation calculation uses the Used heading values as input for the
calculations.
Related topics
Gyro deviation dialog box, page 188
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Sensors dialog box - Rate of turn page

Use this page to select and control the source of rate of turn information.
How to open
Click Sensors→Rate of turn.
Example
Description
Rate of turn (ROT) measurements can be used to improve the heading control of the
vessel. This is useful when a very accurate heading control is required during high-speed
sailing, or when a vessel has a hull shape that makes it difficult to control the heading.
Measurements of the vessel's Rate Of Turn are received from the gyrocompasses, or a
dedicated ROT sensor. The ROT sensors should be enabled to allow this information to
be used by the DP system.
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Details
OK
The OK status for each sensor is shown in the corresponding OK check box. The
status for all channels from the sensor must be OK for the check box to be selected.
This check box is for information only.
Enable
Each sensor has an associated Enable check box. Selecting this check box enables
the signals from the sensor. The system will automatically disable a sensor if it is
not OK. The Enable check box is deselected and made unavailable.
Rate of turn
Shows the measured rate of turn in degrees per minute.
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Sensors dialog box - Speed page

Speed measurements can be used as an addition to position measurements to improve
the vessel speed control. Use this page to enable available speed sensors or to enter a
manual alongships speed value.
How to open
Click Sensors→Speed.
Example
Description
In high speed operations all enabled sensors will normally, unless a sensor has failed,
be used by the system. It is recommended also to enable manual speed input since the
manual value then will be updated based on the sensors in use. Should all sensors be
lost, an initial manual value will reflect the real situation.
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Details
Doppler log
Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Along
Shows the measured alongships vessel speed.

Athwart
Shows the measured athwartships vessel speed.

The Doppler Log speed is marked with SOG or STW depending on the type
of speed output from the sensor:
• SOG — Speed over ground
• STW — Speed through water
GPS speed
Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Speed
Shows the measured vessel speed.

Course
Shows the measured vessel course.
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Note
When a failure occurs in the GPS speed and/or course signals, the Speed and
Course boxes are marked with ‘- - - - - -’.
Manual speed
Enable
Select this check box to enable Manual speed. In high speed operations it is
recommended to enable Manual when using speed sensors to have an initial
Manual value that reflects the real situation.
In use
If the manual value is currently used by the system, it is indicated in the In

use check box. This check box is for information only.
Along
When no speed sensors are enabled, you can enter a value in this text box.
This box is not available when one or more sensors are enabled.
If you enter a value that is too high, a message about the legal range is
shown. You will have to change the input value to continue.
Used speed
Shows the vessel speed used by the system. This is an average, filtered value of the
combined measurements from the In use speed sensors or the manual input value.
Along
Shows the used alongships vessel speed.

Athwart
Shows the used athwartships vessel speed. This will be zero when no speed
sensors are enabled.
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Sensors dialog box - VRS page

Use this page to select and control the source of VRS information.
How to open
Either press the VRS button on the panel or click Sensors→VRS.
Example
Details
OK
Enable
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Preference
Specify which sensor is preferred for use by the system.
In use
The sensor that is currently used by the system is indicated in the In use check
box. If the sensor is not OK or a failure is detected, the check box is deselected
and the system will automatically switch to another sensor enabled for use. This
check box is for information only.
Pitch/Roll/Heave
Measurements from the VRS.
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Sensors dialog box - Wind page

Use this page to select and control the source of wind information.
How to open
Either press the WIND button on the panel or click Sensors→Wind.
Example
Description
You can specify which wind sensor is preferred for use by the system. If no errors
are detected in the wind sensor measurements, the system will always use the
operator-preferred sensor (for which Preference is selected in the Sensors dialog box
Wind page).
The raw measurements of wind speed and direction are filtered internally (using a
Kalman filter with both low and high frequency parts), to estimate the most reasonable
speed and direction values to be used by the DP system.
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Details
OK
Enable
Preference
Specify which sensor is preferred for use by the system.
In use
The sensor that is currently used by the system is indicated in the In use check
box. If the sensor is not OK or a failure is detected, the check box is deselected
and the system will automatically switch to another sensor enabled for use. This
check box is for information only.
Relative speed
The shown wind speed is the measured wind speed relative to the vessel, not
corrected for vessel motion.
Relative dir.
The shown wind direction is the measured direction relative to the vessel heading,
not corrected for vessel motion.
Manual
You can manually enter the values for wind speed and wind direction which the
system should use to calculate the wind force acting on the vessel. To enter values,
disable all sensors and click Apply. The In use check box for Manual input will be
selected, the True speed and True dir text boxes will appear white, and you may
enter values using the keyboard or the Numeric entry keypad dialog box.
True speed, True dir.
Display the true wind speed and direction. The present mode and whether or not
one or more sensors are enabled, determine which values are shown in the text
boxes:
• In Standby mode with one or more wind sensor enabled, the True speed and True
dir. fields display the same values as Relative speed and Relative dir..
• In any mode other than Standby with one or more wind sensors enabled, the
True speed and True dir. boxes show the true wind speed and direction values
(filtered values).
• In any mode with no wind sensors enabled, the True speed and True dir. boxes
contain the manually-entered values for the true wind speed and direction.
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Spectrum
Specify the wind spectrum to be used in connection with the Extreme Motion and
Tension Prediction function.
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Set System Date/Time dialog box

Use this dialog box to change the date and time of the system clock.
Prerequisites
Setting the system date and time can only be performed by the “Chief” user.
How to open
Click System→(Date/time) Set date/time.
Example
Description
You can either enter the time and date values directly into the text boxes or you can use
the arrow buttons to select time and date values.
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Speed setpoint dialog box

This dialog box is useful in operations that require frequent changes of speed setpoint
as it allows you to specify the speed at which the vessel should try to move during a
change of position.
Prerequisites
This speed applies only when the surge and/or sway axes are under automatic control.
How to open
Click Settings→(Control) Speed.
Example
Description
Enter the required value in the Speed setpoint spin box, or use the arrow buttons to adjust
the setpoint by the selected increment or decrement defined in the Increase/decrease
speed step spin box.
As the vessel approaches the position setpoint, the speed setpoint is reduced to zero.
Note
If the speed setpoint is set to 0.0, the vessel will not change position.
If the speed setpoint is set to 0.0 and the vessel's rotation centre has been set to another
position than midships, it will not be possible to perform a change of heading. This is
because a heading change with a rotation centre other than midships implies a change of
position which requires a speed setpoint that is not zero.
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Dialog boxes
Station Explorer dialog box

This dialog box provides system status information for all system components in a
selected process station.
How to open
2 Right-click on a PS line.
3 Click Station Explorer on the shortcut menu.
Note
If the dialog box is empty, you have to select the required DpPs from the drop-down list.
Example
Description
The status information includes:
• For the basis system: applicable PS system information, self-tests and environment
checks (such as temperature check, fan alarm).
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• For the IO Manager: information about all nodes and subnodes of all configured
IO parts.
• For the network: information about the redundant networks - Net A and Net B.
All nodes in the process station are represented by graphical symbols showing their
current alarm status.
Details
(PS tree structure)
The dialog box provides a tree structure showing all the nodes and subnodes in the
PS. The tree structure can be expanded and collapsed, to show or hide information
details. Graphical symbols are shown to indicate the alarm status. Hotspot symbols
provide links to dialog boxes for showing further information about the IO system.
Alarm status indicators
The following alarm status indicators may be shown in the PS status view pane.
There is an error condition in this equipment node, and the alarm is not acknowledged.
When acknowledged, a red circle is shown .
The error condition in this equipment node is no longer present, but the alarm is not
acknowledged. When acknowledged, a green circle is shown (see below).
There is an error condition in this equipment node and the alarm is acknowledged.
The red arrow indicates that there is either an error or an unacknowledged alarm in one
or more equipment subnodes.
Node and all subequipment nodes are OK.
Hotspots
Hotspot symbols provide links to dialog boxes for further information about the IO
system:
Opens the Properties dialog box, which shows an overview of the software and
hardware status of the selected PS. This feature is intended only for Kongsberg
Maritime personnel.
Opens the IO Manager dialog box, which shows the status of the IO drivers and IO
blocks for the selected PS.
Opens the Driver Properties dialog box for the selected IO driver. This feature is
intended only for Kongsberg Maritime personnel.
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Opens a submenu:
• For an IO driver:
– Click Show RBUS IO Image to show a graphical view of the IO cards.
– Click Show IO Driver to open the Driver Properties dialog box for the selected IO
driver. This feature is intended only for Kongsberg Maritime personnel.
• For an IO block (IO card):

– Click Show IO Block to open the IO Terminal Block dialog box, which shows
information about the selected IO block and its IO points.
– Click Properties to open the Properties dialog box for the selected IO card. This
feature is intended only for Kongsberg Maritime personnel.
• For a serial port:

– Click Properties to open the Properties-DpPs Serial Port dialog box for the
selected serial port.
Opens the IO Terminal Block dialog box, which shows information about the selected
IO block and its IO points.
Related topics
IO Manager dialog box - IO Configurator page, page 197
RBUS IO Image dialog box, page 241
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Stop/restart dialog box

Use this dialog box to shut down/reboot the operator station if the system is not
performing as required, for example display views are not updated or the operator station
does not respond to operator input.
How to open
Click System→Stop/restart.
Example
Details
Shutdown
Stops the OS software, shuts down the Windows session and turns off the computer.
Reboot
Stops the OS software, restarts the Windows session and restarts the OS software.
Note
Avoid restarting the operator station by switching the power off and on. It may damage
the Windows file system.
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Dialog boxes
Thrust allocation dialog box

Thrust allocation can be performed in many different ways. The functions that are
available for the vessel are listed on the Thrust allocation dialog box.
Prerequisites
For some of the modes a sufficient number of thrusters must be enabled to select the
mode. The system will automatically switch back to the default thrust allocation mode
(normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY
status.
How to open
Either press the ALLOC. SETUP button on the panel or click Thruster→Allocation mode.
Example
Description
The configuration and operational requirements of the vessel determines the thrust
allocation modes that are implemented in the system, as well as the criteria for the
automatic mode switch. Details of the available thrust allocation modes are provided
with the configuration information for each vessel.
Details
Mode
For the azimuth thrusters, you can choose between various thrust allocation modes.
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The currently-selected thrust allocation mode is shown both in the Thrust allocation
dialog box and in the Thruster main view.
Depending on the operation mode, illegal thrust allocation modes will be
unavailable.
Some azimuth thrust allocation modes can be configured to comprise thruster
biasing. Thruster biasing can also be available as a dedicated thrust allocation
mode with its own name. The following are some typical examples of azimuth
thrust allocation modes:
Variable
The system automatically changes the angle of the azimuth thrusters so that
the thrust is always angled in the optimum direction. In order to reduce wear
and tear on the azimuth thrusters due to continuous changes in the azimuth
thruster angles, a dead-band function is incorporated.
Use this thrust allocation mode when the environmental forces acting on the
vessel are large and are not constantly changing direction.
A set of forbidden zones for each thruster can be predefined to prevent a
particular thruster from interfering with other thrusters, the hull or other
equipment. What happens to the thrust when a thruster passes a forbidden
zone can be predefined for each zone (for example, the thrust can be reduced).
Fix
The system automatically selects a predefined fixed angle for each or some of
the azimuth thrusters. When the environmental force is small and constantly
changing direction, this mode can be used in order to avoid continuous
changes in the azimuth thruster angle.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.
Environ fix
A set of alternative, fixed angles are predefined for each azimuth thruster
from which the system automatically selects the optimum angles. The
system selects the angles for azimuth thrusters according to the directional
force setpoint when the operator selects this mode.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.
Fix weather PORT
The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the port side.
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Fix weather STBD
The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the starboard side.
Diving
This is identical to VARIABLE azimuth mode except that the two modes have
separate configuration of prohibited zones. It is used to activate dedicated
zones during diving operations to prevent the sending of thruster wash
towards the umbilical or diving bell.
This mode can also be used to protect other kinds of equipment, such as HPR
and LTW, and will then be named accordingly.
What happens to the thrust when a thruster passes a prohibited zone can be
predefined for each zone (for example, the thrust can be reduced).
Heave red
When using heave reduction, excessive thrust is applied to increase the

hydrodynamic damping of the vessel. This reduces the motion of the vessel
induced by wave forces. The effect can be used to reduce the motions when
particularly critical operations are to be carried out, for example crane
operations, transfer of personnel, etc.
The azimuth thrusters configured to participate in the motion reduction will
be at predefined azimuth angles, and they will as a minimum be run at a
predefined force limit, for example 50 % force. The thruster angles are
selected so that the resulting thrust is zero when there is no thrust demand.
Manual fix
In this mode the operator can freely set fixed azimuth angles of azimuth
thrusters and rudders/nozzles using the Allocation settings dialog box.
Control
The configuration and operational requirements of the vessel determine the

controls that are implemented in the DP system. Details of the available controls
are provided with the configuration information for the vessel.
The following are examples of thrust allocation controls:
Increased power
Allows the thrusters to be used at more than their nominal rating for a
limited period of time (if the thrusters are designed to handle this) in order to
survive an emergency situation. The increased power is predefined for each
thruster, typically 10 % to 20 %. Normally, this mode needs a ready signal
to be selected. When the time period has expired, the thruster utilisation is
automatically returned to nominal values.
Position priority
If both the rotational moment and directional force setpoint cannot both be
met due to insufficient available thrust, priority is normally set to obtain the
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rotational moment setpoint (heading priority). Clicking Position priority

changes the thrust allocation priority from heading to position.
Free run
Allows a greater maximum pitch/rpm to enable the vessel to reach full speed when
running in Autopilot or Auto Track (high speed) mode. When set to Automatic, free
run is automatically selected when Autopilot or Auto Track (high speed) mode is
entered. The on/off state for free run is also shown in the Thruster main view. The
contents of the Free Run group box may vary depending on vessel configuration.
Related topics
Thruster Biasing dialog box, page 293
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Thruster Biasing dialog box

box in the system installed on your vessel may show only some of the items depending
on the type of biasing — manual or automatic.
How to open
Click Thruster→Biasing.
Related topics
Thruster biasing dialog box - manual biasing, page 294
Thruster biasing dialog box - automatic biasing, page 296
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Thruster biasing dialog box - manual biasing

How to open
Example
Details
Group name
The predefined name of the thruster group. The thruster groups are shown
colour-coded on the small thruster force model in the Thruster main view
In use
Select this check box to turn on the Thruster Biasing function for this thruster
group. The check box is unavailable if Manual fix mode is selected in the Thruster
allocation dialog box and Manual fix angle is set for a thruster member of this group
in the Allocation settings dialog box.
Thrusters
Shows the number of the thrusters which counteract each other in each group. A
special situation is when there is only one thruster in a group. The text boxes for
this group then appear dimmed, with the thruster number shown only in the first text
box. With two or more thrusters in a group, you can define the thrusters to interact.
An error checking routine informs if:
• The same thruster number is specified twice in the same group.
• The same thruster number is specified in two different groups.
• An illegal thruster number is entered.
• An illegal thruster type is entered.
These checks only apply for thruster groups that have the In use check box selected.
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Bias
The minimum force to be used for each thruster when running the thrusters which
counteract each other.
Turn factor
The thrusters will work towards each other (when the Inwards check box selected)
until this force level is reached. When this level is reached, one thruster will turn,
and they will both work in the same direction.
Angle factor
Determines the relative priority of angle against force to satisfy the force demand.
Spin
If one thruster in this group is disabled and the other is not, and the demand to the
enabled thruster is less than the bias force, you can choose to spin the enabled
thruster.
Inwards
When two thrusters are counteracting each other, you can choose between running
them towards each other (Inwards check box selected), or away from each other
(Inwards check box not selected).
Related topics
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Thruster biasing dialog box - automatic biasing

How to open
Example
Details
Thrusters
Shows the thruster numbers to counteract each other in each group. With two or
more thrusters in a group, you can define the thrusters to interact when By operator
is selected.
Bias
The minimum force to be used for each thruster when running the thrusters to
counteract each other. You can enter a required bias value when By operator is
selected.
Thruster select
Set the system to change bias pairs automatically as a function of demand direction.
Automatic
When selected, the Thrusters and Bias columns become unavailable for
editing by the operator. The system selects thruster bias groups automatically
based on a predefined setting. The demand direction decides which group
setup is selected.
If a thruster becomes the only enabled thruster in a group, this thruster
can (based on certain criteria) join another group. The thrusters will then
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Dialog boxes
counteract each other so that the resulting thrust is zero for this “new” group.
When a thruster joins a group, the thruster number is shown below the text
Joined in the Thruster biasing dialog box, adjacent to the numbers of the
other thrusters in the group.
An example of thruster biasing where Thruster 4 has joined the group
containing thruster 7 and 8 because thruster 5 is disabled:
By operator
With Thruster select set to By operator, the operator can select the thrusters in
each group by typing the required thruster numbers, and enter Bias values or
select Total bias.
No bias
With Thruster select set to No bias, the system is still in thruster bias main
thrust allocation mode, but no bias is applied.
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Total bias
Use
When Use is selected, a total common bias can be entered. You can also
monitor the total applied bias in the dialog box.
Request
When the total bias is entered in this spin box, the bias value is distributed
to all of the bias groups. If the bias was initially equal for each group, the
total bias is distributed equally. If, however, the bias was initially unequal
for each group, the total will be distributed in the same proportion as the
initial proportions.
Applied
This text box shows the difference of the thrust before and after total bias
was applied.
Bias type
This group box only becomes available when running in FIX thrust allocation
mode. The frame appears dimmed in all other thrust allocation modes. By default
the Bias type is set to Both.
Thruster biasing function

Thruster biasing allows azimuth thrusters to counteract each other in groups so that
the resulting effect of the biasing is zero.
Each group can contain either two or three thrusters. Thruster biasing does not limit
the use of the thrusters since the counteraction will be reduced when the total demand
increases. The operator can specify the level of biasing.
Up to six thruster groups can be preconfigured.
This function is useful in the following situations:
• When an azimuth thruster cannot give zero thrust. Other azimuth thrusters or main
propellers can be used to compensate for this minimum force.
• When a higher power consumption is required (than what is actually needed for
positioning).
• When the weather is calm.
• When heave reduction is required combined with variable azimuth mode.
Depending on the vessel configuration, the Thruster Biasing function can also:
• Reduce the turning of azimuth thrusters when the force setpoint is changing, thereby
improving the effective thruster response and the positioning accuracy.
• Improve the damping of vessel motion.
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The Thruster Biasing dialog box can be configured to suit the individual needs of each
vessel, and the contents (number and configuration of thruster groups and columns)
will tend to vary from vessel to vessel.
Thruster biasing - bias type

Bias type can only be selected when the thrust allocation is set to fix. There are three bias
types: port, starboard and both. By default the bias type is set to both.
When running in FIX thrust allocation mode the DP system automatically selects a fixed
angle for each azimuth thruster, i.e. the azimuth thrusters cannot turn.
You can use the bias type settings on the Thruster biasing dialog box to work around
this restriction. Depending on the direction of applied thruster setpoint, removal of the
thruster biasing on specific thrusters in a group can be allowed. In this situation, the
thruster will run below its bias value, including negative values (e.g. pitch/rpm). The
thruster will not turn, but the thruster force will be in the opposite direction.
In the following examples thrusters 7 and 8 are set by the operator to be in group 3 (and
thus to counteract each other). The vessel is run in Joystick mode using the joystick to
control the thruster setpoint. The effects of the configured bias types Both, PORT and
STBD on thruster behaviour are described.
Bias type Both

When Bias Type is set to Both and thruster setpoint to starboard, a bias is applied on both
thruster 7 and 8. Thruster 7 cannot turn because it is in FIX thrust allocation mode. The
same will happen when you set the thruster setpoint to port. Thruster 8 will not turn.
None of the thrusters will go below the Bias value you have set for group 3.
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Thrust allocation FIX combined with bias type Both:
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Bias type PORT
Bias type set to PORT.

Thruster setpoint to starboard (illustrated by the joystick
symbol).
Starboard thruster (7) is allowed to go negative (i.e. no
bias on this thruster). It will only go negative if the force
setpoint is not fulfilled by the PORT thruster (8).
Bias type set to PORT.

Thruster setpoint to port (illustrated by the joystick
symbol).
Port thruster (8) stops at its bias value and is not allowed
to go negative.
Bias type STBD
Bias type set to STBD.

Thruster setpoint to starboard (illustrated by the joystick
symbol).
Starboard thruster (7) stops at its bias value and is not
allowed to go negative.
Bias type set to STBD.

Thruster setpoint to port (illustrated by the joystick
symbol).
PORT thruster (8) is allowed to go negative (i.e. no bias
on this thruster). It will only go negative if the force
setpoint is not fulfilled by the starboard thruster (7).
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Thruster biasing - turn factor

The turn factor determines when to turn a thruster within a group, instead of continuing
to counteract the other thruster.
In the examples below, the maximum force for each thruster is 10 tonnes and the idle
or bias force is 2 tonnes.
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Thruster biasing - angle factor

The angle factor determines the relative priority of angle against force to satisfy the
force setpoint.
In the examples below, the same 10 tonnes demand ahead is achieved, but more thrust
is used in example 1 (with a higher angle factor), than in example 3 (with a lower
angle factor).
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Thruster biasing - inwards factor

When two thrusters are counteracting each other, the inwards factor determines whether
they should be run towards each other or away from each other.
The examples below show various situations with Inwards both selected and not selected.
The specified setpoint is the force setpoint for this group.
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Thruster combinator control settings dialog

box
Combinator control of a thruster means that the system controls both pitch and RPM.
Pitch and RPM can be controlled individually and in different combinations.
How to open
Click Thruster→Combinator control settings.
Example
Details
Configuration
Minimum RPM %
For each of the listed thrusters, the operator can specify a minimum
percentage value for the RPM. The RPM will not fall below this limit when
Sequential or Stepwise Combinator control mode is selected.
Minimum RPM is not applicable for Full Combinator control mode and is
therefore unavailable (appears dimmed) when this mode is selected.
Combinator control mode
Sequential
The RPM is kept fixed at the minimum RPM limit for low force demands.
The RPM will only increase if the force demand is higher than what can be
dealt with by varying the pitch. The pitch setpoint will always be +100 % or
–100 % when the RPM setpoint is higher than the minimum RPM limit.
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Stepwise
The RPM will be stepped up (respective down) if the filtered pitch setpoint is
higher (respective lower) than a predefined limit. The RPM will never be
stepped below the minimum RPM limit.
This mode is designed with long term station-keeping in mind. In this mode
the thrusters will step the RPM automatically in varying weather conditions
in order to force the pitch setpoint into a desired working interval.
Full
The pitch and the RPM follows a predefined trace (combinator curve) with
regards to the force demand.
Full Combinator control mode is similar to the way pitch and RPM is
controlled in combinator mode during manual thruster lever control.
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Dialog boxes
Thruster enable dialog box

Thrusters can be enabled either by their respective buttons or from this dialog box.
How to open
Click Thruster→ Enable.
Example
Details
Thrusters
Enable/disable all
Selecting or deselecting this check box allows you to enable or disable all
thrusters and rudders for DP control simultaneously.
Running
These check boxes show whether the thrusters are running or not. When a
thruster status is set to Running, the DP system reads the feedback signal
from the thruster and calculates the resulting thruster force.
Under certain conditions, the operator can switch the thruster Running
signals on/off. The running status can be changed in this way only if all of
the following conditions are satisfied:
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• The running status is not interfaced directly from the thruster to the DP
system.
• The thruster is not ready.
• The system configuration allows manual setting of thruster running status.
Rdy
These check boxes show whether the thrusters are ready for DP control.
Enable
Enable or disable each of the thrusters for DP control. The system will
automatically disable a thruster if it is not ready, i.e. deselect the Enable
check box, and also make the check box unavailable, thus indicating that
before a thruster can be enabled, it must be ready.
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Thruster run-in dialog box

Use this dialog box to limit the maximum thruster setpoint of each individual thruster
configured with this functionality.
How to open
Click Thruster→Run-in.
Example
Details
Enable
Select a check box to turn on the Thruster run-in function for the corresponding
thruster.
MAX setpoint (%)
The maximum setpoint for the corresponding thruster in percent. The specified
value must be more than any required minimum setpoint for the thruster (such as
for minimum thrust or idle rpm) and must always be at least 20 %. This value is
valid for both the positive and negative directions.
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For thrusters with combined pitch/rpm control, the specified maximum setpoint
refers to either the pitch or the rpm setpoint, depending on the configuration.
The maximum setpoint zones are shown for each selected thruster in the Thruster
main view:
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Trainer settings dialog box

Use this dialog box to set the start position and simulated sensor values for the built-in
trainer function.
How to open
Click Tools→Trainer.
Example
Description
The values for Start position, Wind speed, etc. shown in this dialog box are the values
that were in use when the previous training session was stopped (provided that no stop
or restart of the OS has taken place in the meantime). You can change the values for
a new training session.
Related topics
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UTM properties dialog box

Use this dialog box to specify a fixed offset by selecting false easting and/or false
northing and defined options for the UTM zone.
How to open
1 Click View→(Presentation) Position.
2 On the Position presentation dialog box select UTM coordinate system
3 Click the UTM properties option button.
Example
Details
False easting
To avoid the presentation of negative coordinates, you can specify that a fixed
offset of 500 000 m is to be added to the east/west component of a UTM position
before it is shown.
False northing
Specifies that a fixed offset of 10 000 000 m is to be added to the north/south

component of a UTM position before it is shown (10 000 000 m is the approximate
distance from the equator to the North Pole in a UTM grid). This avoids the
presentation of negative coordinates for positions in the southern hemisphere.
False northing is normally only applicable in the southern hemisphere.
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Zone options
Automatic zone calculation
The UTM zone is calculated automatically from the geodetic position

measurements.
Zone
The required system UTM zone (not available if the UTM zone is calculated
automatically).
Zone offset
Applies a fixed offset to the received longitude degrees when calculating

the UTM zone of a position. You can offset the system UTM zone up to
±3 degrees.
Universal Transverse Mercator (UTM)

The Universal Transverse Mercator (UTM) is a cylindrical projection with the axis of the
cylinder passing through the centre of the earth. The earth sphere is divided in 60 zones:
Each zone is 6 degrees wide. In each zone, the central meridian divides the zone in two
equal halves. Because UTM is a grid system, there is a difference in direction between
grid north and true north. This difference is zero on the central meridian and increases
across the zone.
Within each zone eastings and northings (in metres) increase in the eastward and
northward direction, with zero values on the central meridian and on the Equator,
respectively.
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For UTM presentation, the system allows you to specify a fixed offset by selecting
false easting and/or false northing.
10 000 000 metres is the approximate distance from the Equator to the North Pole in
a UTM grid.
Without false northing, UTM positions in the southern hemisphere are presented with
zero at the Equator and approximately -10 000 000 m at the South Pole. With false
northing, UTM positions in the southern hemisphere are presented with 10 000 000
metres at the Equator and approximately zero at the South Pole.
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Display views
Display views
Topics
Diesel view, page 316
Event List view, page 319
Joystick view, page 324
LTW view, page 328
Numeric view, page 333
Power consumption view, page 354
Rotation center view, page 364

Thruster forces view, page 368
Thruster setpoint feedback view, page 384
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Diesel view
The Diesel view provides a simplified mimic display of the vessel's diesel engines and
fuel-rack system as seen from K-Pos DP.
How to open
Example
Description
The information presented in this view is based on the following signals received by
K-Pos DP:
• the power produced by each main diesel generator
• the fuel-rack reading
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Display views
• diesel clutched in or out

The main models for fuel-rack regulation in common use are:
• propeller with two diesel engines and two shaft generators
• propeller with one diesel engine, no shaft generator
• propeller with two diesel engines, no shaft generator
• propeller with one diesel engine, one shaft generator
The configuration shown in this example view consists of starboard and port propellers,
each driven by two diesel engines with fuel-rack regulation system. Each diesel engine
also drives a generator. Each diesel engine is connected to the propeller via a clutch
and gearbox.
Details
This is a generator symbol showing the produced power both as

a numerical value (above the symbol) and graphically (the line
in the symbol) as a percentage of the nominal power (where the
vertical axis is 100 %). The symbol is colour-coded:
• grey — the generator is not running
• green — the generator is OK and running
• orange — the generator has a warning status
(for details check the Event List view)
• red — the generator has an alarm status
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These are numerical and graphical displays of the fuel-rack load

on the diesel engines. They have the same colour-coding as for
the generators.
Clutch symbol with the same colour-coding as for the generators.
These are numerical and graphical displays of propeller

pitch/rpm feedback. The green label indicates which system has
control of the thrusters.
The symbol is colour-coded:
• The colour of the bars changes to orange when the thrusters
pass the limit for percentage of available thrust (typically
80 %). This applies only to some modes (depending on your
system configuration, but usually in automatic modes).
• The colour of the bars changes to red when there is a signal
error from one of the propellers/rudders.
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Display views
Event List view

The Event List view provides a list of all currently active system messages.
How to open
Press the ALARM VIEW button.
Example
Details
(First column)
Identifies the acknowledge status of the message:

• An asterisk (*) with its background colour flashing is shown for an
unacknowledged message that is in a command group over which the operator
station has control.
• A vertical bar (|) is shown for an unacknowledged message that is in a command
group over which the operator station does not have control.
• An empty (blank) space is displayed in any other situation.
Time
Time and date when the message was first reported.
Originator
Identifies the redundancy group which is the originator (source) of the message.
The values depend on the delivery configuration.
Member
Members of the originator of the message (not relevant when the originator is an
operator station or terminal, or a controller PS group with only one member).
If the message is from a controller PS group with more than one process station, this
column identifies the members of the group. It may contain up to three characters,
depending on the redundancy level. For example, for a triple-redundant system:
ABC The message was reported by all three process stations and is still active.
C The message was reported only by process station C and is still active.
407271/D 319
–B The message was reported by process stations A and B. The message

from process station A is now inactive.
––– The message was reported by all three process stations and is now
inactive (but not yet acknowledged).
Tag
Identifies the originator (source) of system events (e.g. Command Control and
Equipment).
Priority
A Alarm
W Warning
C Caution
E Emergency
State
The event state for the message:
Normal The alarm or warning condition is no longer present

High Active digital alarm
Text
Message text.
Additional info
Up to three blocks of additional data may be included in the message. The meaning
of the additional data varies for each message.
(Event pages)
You can choose among the following event pages:
Dynamic Alarm Page
The Dynamic Alarm Page shows a list of the most recent messages. The page has a
limited length; as the list is filled up, the oldest messages are pushed out while the
most recent ones are added to the top of the list. Messages where the underlying
condition is no longer present are shown with the state Normal.
Messages can be acknowledged on the Dynamic Alarm Page. Acknowledged
messages where the underlying condition is no longer present are removed from
the page.
Use the Dynamic Alarm Page to get a survey of the current alarm situation.
Historic Event Page
The Historic Event Page provides a log of all messages that occur. Within the
limits of the event database, you can define the time span to be covered by the
Historic Event Page using the Date and Time dialog box. While a message can
320 407271/D
Display views
appear only once on the Dynamic Alarm page, it appears as many times on the
Historic Event Page as there are changes in its state.
Use the Historic Event Page whenever you need to analyse the evolution of events.
If the list extends beyond the window area of the display, you can use the up/down
arrows in the tool bar.
Dynamic Event Page
The Dynamic Event Page shows a list of the most recent messages. The page has
a limited length; as the list is filled up, the oldest messages are pushed out while
the most recent ones are added to the top of the list. While a message can appear
only once on the Dynamic Alarm page, it appears as many times on the Dynamic
Event Page as there are changes in its state. Acknowledged messages where the
underlying condition is no longer present remain shown with the state Void.
Use the Dynamic Event Page to get a survey of the current event situation.
Note
Messages cannot be acknowledged on the Historic Event Page or on the Dynamic
Event Page.
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Gangway view
This view contains all the information from the sensors necessary to monitor the
gangway.
How to open
Example
322 407271/D
Display views
Description
The average values and standard deviation values are calculated from the measurements
during the defined time span. If the time span is long, the difference between these
values and the current measurements will be bigger.
You can adjust the time span of the plot using the view-control dialog box.
The bars show both the instantaneous values (dark blue) and the maximum values (light
blue) recorded during the time span.
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Joystick view
The Joystick view shows the thrust setpoint and response, and the vessel speed in the
various axes, to assist during positioning with the joystick alone.
How to open
Example
324 407271/D
Display views
Details
Shows the axes that are under joystick control. In the example
shown, all three axes yaw, surge and sway are controlled by
the joystick.
This is a graphical display of the obtained rotational moment.

The rotational moment setpoint is marked by the brown line.
The numerical value of the obtained rotational moment is shown.
This is a graphical display of the obtained surge force. The surge

force setpoint is marked by the brown line. The numerical value
of the obtained surge force is shown.
This is a graphical display of the obtained sway force. The sway

force setpoint is marked by the brown line. The numerical value
of the obtained sway force is shown.
This is the estimated sway speed at the bow of the vessel. This
value is calculated from the vessel dimensions and the estimated
rate of turn.
This is the estimated sway speed at the stern of the vessel. This
value is calculated from the vessel dimensions and the estimated
rate of turn.
This shows the status of the speed estimates.

• Ok — The system is receiving acceptable position and
heading information, and at least one speed sensor is in use.
• Manual — Manual speed is in use.
• Model — No speed sensor or Manual speed is enabled, but at
least one position-reference system is accepted.
• Dropout — No speed sensors or position-reference systems
are enabled (text on red background).
407271/D 325
This is the estimated rate of turn.
This is the estimated surge and sway speed at the vessel's

midships position.
The resulting force and speed vectors are shown graphically.

The numeric values show the range of the display for both force
and speed.
This shows the present joystick thrust setting as selected on

the Joystick Settings dialog box which can be either full thrust
or reduced thrust.
The present joystick precision setting as selected in the Joystick
Settings dialog box is shown. The joystick precision setting can
be either high speed precision, general precision or low speed
precision.
This shows the axes that are currently selected for environmental
compensation.
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Display views
This shows the joystick demand as a percentage of the maximum

available demand in surge, sway and yaw axes.
If this operator station is not in command a grey symbol on the

graphical presentation to the right shows the setpoint of the
local joystick.
A graphical display of the joystick setpoint is shown. If this

operator station is not in command, the graphical display shows
both the setpoint from this operator station (Local) and the
setpoint from the operator station that is in command.
This information can be used to ensure a bumpless transfer when
you change the command from one OS to another.
This information can also be used for checking that the joystick
is functioning. Consider whether the joystick is functioning by
comparing the displayed joystick setpoint to the actual joystick
deflection (surge and sway) and the degree of rotation (yaw).
Related topics
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LTW view
Use the LTW view to monitor the performance of a Light-weight Taut Wire (LTW)
position-reference system. The position of the depressor weight is shown relative to
the position of the gimbal head (the centre of the graphical display). The maximum
operational area is also shown.
How to open
Example
Description
The Light-weight Taut Wire (LTW) is based on measurements and calculations of the
vessel's position relative to a fixed point on the sea bed.
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Display views
A gimbal head on a boom over the side of the vessel is connected by a wire to a depressor
weight on the sea bed.
The vertical component of the wire length is measured when the depressor is lowered
onto the sea bed. The angles between the wire and the vertical, both in the alongships
and the athwartships axes, are measured as the vessel moves away from the point where
the depressor weight was deployed.
The position is calculated based on these data. The actual length of the wire is also
calculated and presented in the LTW view. Corrections are applied to allow for the offset
distance between the sensor on the gimbal head and the vessel's rotation centre.
The draught is measured, and the vertical component of the wire length is recalculated
whenever the draught changes. Changes of water depth due to turning of the tide are not
taken into account. In these circumstances the depressor weight must be lifted off the sea
bed and re-lowered to have the system record the change of wire length.
407271/D 329
Details
These are the gimbal head alongships and athwartships axes.

The intersection of the axes represents the gimbal head position
and is always at the centre of the display.
The symbol represents the position of the depressor weight

relative to the gimbal head.
This shows the maximum operational area.
The Range is the distance from centre to edge of the plot.

The button decreases the display range. The button
increases the display range.
The N symbol indicates the orientation of the heading as selected
by the buttons in the Heading pane — if H REL is selected the
symbol is tilted in the respective direction.
The Grid value is the spacing between grid lines or circles.
You can adjust the grid spacing using the view control
dialog box. The grid spacing is automatically adjusted when
decreasing/increasing the display range.
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Display views
This shows the status of the “Mooring on” signal from the LTW
system. This signal indicates when the depressor weight is on
the sea bed.
This shows the angle of the taut wire in the alongships and
athwartships directions as measured at the gimbal head.
The Along angle is positive when the gimbal head is forward
of the depressor weight.
The Athwart angle is positive when the gimbal head is to
starboard of the depressor weight.
This shows the position of the depressor weight relative to the

gimbal head.
The Along position is positive when the depressor weight is
forward of the gimbal head.
The Athwart position is positive when the depressor weight is to
starboard of the gimbal head.
This shows the wire length.

Total is the wire length measured by the gimbal head.
Vertical is the depth of the depressor weight relative to the
gimbal head, measured by the wire length when the depressor
weight was lowered onto the sea bed.
Light Taut Wire Plot view control

How to open
Right-click the view and click View control.
407271/D 331
Example
Details
Grid
Show
Show or hide the grid.
Spacing
The spacing (distance) between grid lines or circles. You can change the
grid spacing by clicking the down arrow and selecting a new value from the
drop-down list.
The grid spacing is automatically adjusted when decreasing/increasing the
display range.
Square/Circular
The type of grid.
Light Taut Wire Graphics
Select the LTW system whose position information is to be shown in the main
graphical area of the view.
Range
Specify the display range explicitly by entering a value in the text box.
Incr. Range
Increase the display range in fixed steps.
Decr. Range
Decrease the display range in fixed steps.
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Display views
Numeric view
The Numeric view shows performance data in numerical form.
How to open
Example
407271/D 333
The position setpoint, present position and position deviation in

north (N) and east (E) direction are shown.
The values for heading setpoint, present heading and heading

deviation.
The values for rate of turn setpoint and present rate of turn.
The values for vessel speed setpoint and present speed.
The direction of the vessel speed relative to true (N UP) or to

the vessel (H REL). The shown orientation is selected in the
Heading pane on the dashboard.
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Display views
Thee warning and alarm limits for position and heading

deviation. Green indicates that the limits are currently active.
The calculated residual force (the sum of all the non-modelled

forces together with any errors in the modelling). The residual
force is shown with either true components (N and E) or relative
components (Surge and Sway), as selected in the Heading pane
on the dashboard. Moment is the rotation moment exerted on
the vessel.
407271/D 335
Posplot view
The Posplot view shows the vessel's position relative to the position and heading
setpoints and to other shown objects, such as the position of transponders. The prevailing
wind and current are also shown.
How to open
Example
Description
Using the Posplot view-control dialog box, you can:
• Select either a true or a relative display, with either the position setpoint or the present
vessel position at the centre of the display.
• Show or remove various features in the view.
336 407271/D
Display views
• Show or hide a chart in the Posplot view.

• Show or hide the grid, and select grid type and grid spacing.
Note
Grid display is only possible when the range is 10 000 metres or less. When the range
is larger than 10 000 metres, the grid disappears automatically. Maximum range is
3 000 kilometres.
• Specify the display range, i.e. distance from centre to edge of plot.
• Show or hide a trace line and trend symbols, and also specify the sample rate and the
extent of the trace line/trend symbols.
The EBL (Electronic Bearing Line) button can be used for measuring positions, distances
and bearings on the display.
Details
The compass rose is marked with degrees. The north/south and

east/west geographical axes are shown.
This is the vessel symbol that indicates the position of the

vessel, relative to known reference points and directions. The
vessel's midships position is marked with a small cross. The
currently-selected rotation centre is marked with a small circle.
The size of the vessel symbol is dynamically scaled according to
the selected display range. This vessel symbol is replaced by an
unscaled symbol at small and large range values.
Note
When changing the Posplot view to close range or long range,
the vessel symbol changes from showing the correct form and
dimensions of the vessel into a simplified shape with a constant
size.
This is the position setpoint symbol. Click and move this symbol
to change the position setpoint.
407271/D 337
The position carrot that regulates smooth vessel movement is

shown as a small asterisk. When the position setpoint is changed,
the position carrot moves towards the new setpoint. The speed
of the carrot's movement depends on the speed setpoint.
When relaxed control mode is in use (selected on the Gain dialog

box), the radius for relaxed control is shown as a shaded area
with the position setpoint as center. The area around this circle is
click-sensitive. You can easily adjust the relaxed control radius
by clicking this area to open the Gain dialog box to set a new
value. If you select to hide the setpoint from the Show page on
the Posplot view-control dialog box, the shaded area indicating
the relaxed control radius will also be hidden.
When Green control mode is in use (selected from the Gain

dialog box), the outer and inner control radii are indicated on the
Posplot view, with the position setpoint as centre. The inner
radius is indicated by a blue, shaded circle. The predicted
trajectory for the vessel is shown as a line pointing from the
rotation centre.
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Display views
This is the heading setpoint symbol. By clicking and moving

this symbol you can change the heading setpoint.
This is the present heading symbol.
The heading carrot that regulates smooth vessel movement is

shown as a small pointer. When the heading setpoint is changed,
the heading carrot moves towards the new setpoint. The speed
of the carrot's movement depends on the rate of turn setpoint.

The TM/RM toggle button (true/relative motion) changes the
orientation of the display (the same function as the Motion page
in the Posplot view control).
The EBL (Electronic Bearing Line) button. Use this feature to
view the coordinates of positions on the display.
This shows the wind arrow. The arrow rotates around

the compass rose to show the true wind direction (filtered
measurement from the wind sensor).
An arrow pointing towards the plot indicates “comes from”
direction, and an arrow pointing outwards from the plot indicates
“goes to” direction. The direction of the arrow depends on the
units setting for wind direction as selected in the Presentation
Units dialog box.
407271/D 339
This is the true wind speed and direction (filtered measurements

from the wind sensor).
An “s” in front of the degree symbol in the unit for wind
direction means “setting” (goes to) if selected in the Presentation
Units dialog box.
If the wind sensor is disabled or becomes unserviceable the last
known valid wind sensor measurement is used and the word
Freeze is shown on yellow background.
This shows the residual as current.

The arrow rotates around the compass rose to show the direction.
An arrow pointing toward the plot indicates “comes from”
direction, and an arrow pointing outwards from the plot indicates
“goes to” direction. The direction of the arrow depends on
the units setting for sea current direction as selected in the
Presentation Units dialog box.
In DP operations this is the residual shown as current speed and

true direction.
An “s” in front of the degree symbol in the unit for direction
means “setting” (goes to) if selected using the Presentation Units
dialog box.
These are position warning and alarm limit circles (centred on

the position setpoint). With automatic surge and sway control,
and with position limits enabled, these circles indicate the
warning and alarm limits for position deviation. When the vessel
reference point crosses the warning limit circle, a warning is
given. When the vessel reference point crosses the alarm limit
circle, an alarm is given.
The position warning and alarm limit circles are hidden when
the setpoint is hidden.
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Display views
The short lines, dashed and solid, are heading warning and alarm
limit markers (centred on the heading setpoint). With automatic
yaw control, and with heading limits enabled, these markers
indicate the warning and alarm limits for heading deviation.
When the vessel heading crosses the warning limit, a warning
is given. When the vessel heading crosses the alarm limit, an
alarm is given.
The heading warning and alarm limit markers are hidden when
the setpoint is hidden.
This shows a transponder symbol for a position-reference

system.
A circle around a transponder symbol indicates that this
transponder is the reference origin. An empty circle indicates
that the reference origin transponder has been deselected.
Related topics
EBL dialog box, page 170
407271/D 341
Posplot view control

Related topics
Posplot view control - Grid page, page 344
Posplot view control - Motion page, page 342
Posplot view control - Range page, page 345
Posplot view control - Show page, page 343
Posplot view control - Trace page, page 346
Posplot view control - Motion page
How to open
Example
Details
Plot Centerpoint
True Motion
True display centred on the position setpoint. The position setpoint (required
position) is placed at the centre of the display.
Relative Motion
Relative display centred on the current position. The symbol of the vessel
(present position) is placed at the centre of the display.
342 407271/D
Display views
Posplot view control - Show page
How to open
Example
Details
Show/Hide
Display or remove various features of the Posplot view. The choice of features
available is configured for each vessel.
407271/D 343
Posplot view control - Grid page
How to open
Example
Details
You can select the type of grid and whether the grid will be shown or hidden.
Show
Spacing
The spacing (distance) between grid lines or circles. You can change the grid
spacing by clicking the down arrow and selecting a new value from the drop-down
list.
The grid spacing is automatically adjusted when decreasing/increasing the display
range.
Square/Circular
The type of grid.
Use UTM
UTM grid can be selected. The grid in the Posplot view is rotated with an angle
that corresponds with the meridian convergence shown.
344 407271/D
Display views
Posplot view control - Range page
How to open
Example
Details
Enter
Used to enter the Distance from Center ...to Edge of Plot. Click Apply to use the
new range setting.
Increase Range
Increases the shown range. This button has the same function as the ▲ button
in the upper right corner of the view.
Decrease Range
Decreases the shown range. This button has the same function as the ▼ button
407271/D 345
Posplot view control - Trace page
How to open
Example
Details
Vessel Position/Heading History
Trace-line
It is possible to show or hide a trace line of the vessel
movements (Show) and specify the sample rate (Sampling)
and the extent of the trace (Memory) to be stored. The trace
line shows the path followed by the currently-selected
vessel rotation centre.
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Display views
Trend-symbols
It is possible to show or hide a series of vessel symbols
indicating vessel movement and position (Show) and
specify the sample rate (Sampling) and extent of the trend
symbols (Memory) to be stored.
Note
With the Posplot view at close range when the simplified
symbol is shown, the “trended” symbols are not shown.
Clear All
Clicking this button clears all the trend symbols permanently and the trace
line both in memory and in the Posplot view.
407271/D 347
Power view
The Power view is a simplified mimic display of the vessel's electrical power system
as seen from K-Pos DP.
How to open
Example
348 407271/D
Display views
Description
K-Pos DP receives information about:
• the power produced by each main generator
• which switchboard each generator is connected to
• how the switchboards are connected
• how the thrusters are connected to the switchboards
The thruster power consumption is either measured directly or calculated from the
thruster feedback.
Details
This is a generator symbol showing the produced power both as

a numerical value (above the symbol) and graphically (the line
in the symbol) as a percentage of the nominal power (where the
vertical axis is 100 %). The symbol is colour-coded:
• grey — the generator is not running
• green — the generator is OK and running
• orange — the generator has a warning status
• red — the generator has an alarm status
This is a battery symbol showing the produced power both

as a numerical value and graphically as a percentage of the
available power (where the vertical axis is 100 %). The symbol
is colour-coded:
• grey – the battery is not connected
• green – the battery is connected
• orange – the battery has a warning status
• red — the battery has an alarm status and the remaining
lifetime is shown in percentage and minutes
407271/D 349
This is the switchboard name (swbdB in the example).

The number in brackets (2 in the example) indicates the
connect-switchboard that the switchboard is a part of. The
symbol is colour-coded:
• grey background — no generators are connected to this
switchboard
• green background — the switchboard is OK
• orange background — the switchboard has a warning status
• red background — the switchboard has an alarm status
The position of the symbol for generator breaker, thruster

breaker or bus-tie shows whether the generator is connected to
the switchboard or not.
If batteries are part of the power source used for the thrusters
the diagonal line indicates that the breaker is in ‘ready for
change-over’ status.
The symbol is colour-coded:

• grey frame – the breaker is open
• green frame – the breaker is closed
• orange frame – the bus-ties is selected for even distributed
load with zero current flow.
• red frame – there is an alarm status on the breaker
350 407271/D
Display views
This is a thruster symbol showing the produced power both

as a numerical value and graphically as a percentage of
the nominal power (where the vertical axis is 100 %). The
symbol is colour-coded:
• grey – the thruster is not running
• green – the thruster is OK and running
• orange – the thruster has an warning status
• red — the thruster has a signal error on the load signal,
or the demand to this thruster is reduced by the blackout
prevention and it is not possible to distribute this demand
to other thrusters, i.e. the DP system has insufficient thrust
The total available and consumed power from the generators

connected to each connect-switchboard or switchboard can
be shown using the Power plot view-control dialog box. The
Load/MAX values indicate: the consumed power — the first
value (27 or 22 in the examples) and the maximum load —
the second value (95 in the examples) shown in percentage.
If the value for maximum load is in brown colour, this
indicates that the respective connect-switchboard is selected
for Reduced swbd load.
The frame is colour-coded:

• orange — the switchboard has a warning status
• red — the switchboard has an alarm status
407271/D 351
The text on yellow background indicates that the

connect-switchboard is solely powered by batteries.
The power optimal allocation can be defined to run in

different modes as selected in the Power Optimal Allocation
dialog box.
• In Normal mode the power optimal allocation will first of
all allocate thrust within the given power limitations.
• In Even Load mode the thrust is allocated so that the load is
as even and as low as possible on all connect-switchboards.
• In Even Load with zero bus-tie current flow mode the thrust
is allocated so that the current through the operator-defined
bus-tie is as low as possible.
• In Reduced swbd load mode the operator can specify
required maximum power consumption on one or more
connect-switchboards.
A trend plot is shown. You can select the information to be shown using the Power plot
view-control dialog box.
Related topics
Power monitoring, page 131
Power optimal allocation dialog box, page 232
Power plot view control

How to open
352 407271/D
Display views
Example
Details
Present
Selects whether to show information about Connect-switchboards or Switchboards.
Show/Hide
If configured, selects whether or not to show the internal names (IO Tags) of the
generator breakers, bus-ties and thruster switches.
Plot
The trend plot to be shown.
Time span
The time span for the trend plot.
Range
Click this button to open the Y-Axis Range dialog box. Use the dialog box to select
automatic scaling or to manually set the upper and lower limits for the y-axis
plot scale.
Auto
Select this option to set the y-axis
range automatically.
Manual
Set the Upper and Lower scale limits
manually.
407271/D 353
Power consumption view

The Power consumption view shows the consumed power for each connect-switchboard
in numerical and graphical form as a percentage of available power, which
switchboards are included in each connect-switchboard and the available power for each
connect-switchboard in numerical form. The view is dynamically updated to always
show the current switchboard topology.
How to open
Example
354 407271/D
Display views
The consumed power for each connect-switchboard is shown

in graphical form as a percentage of available power for each
connect-switchboard.
The number of bar graphs shown will be automatically adjusted
to reflect the vessel's current connect-switchboard configuration,
i.e. when it changes due to bus-tie breakers being opened/closed.
Each bar graph has a blue bar and two predefined power
consumption limits (one for warning and one for alarm) that are
shown as dashed horizontal line for warning limit and solid line
for alarm limit. If the lower (warning) limit (typically 80 %) is
exceeded the colour of the bar becomes orange. If the upper
(alarm) limit (typically 95 %) is exceeded the colour of the bar
changes to red.
The consumed power for a switchboard group.
The maximum power for a switchboard group.
The switchboards that are included in each connect-switchboard

(Conn-swbd 1, Conn-swbd 2, etc.) are designated SwbdA, SwbdB,
etc.
407271/D 355
Reference system main view

The view shows the individual and resulting performance of the position-reference
systems that are currently enabled.
How to open
Example
356 407271/D
Display views
Details



The information symbol opens the legend:
This indicates the legends used for plotting. Colour-coding and

capital letters help to differentiate the various position-reference
systems.
The centre of the plot is the present vessel position. Using the
view-control dialog box, you can select either a true or a relative
display.
A colour-coded circle is shown with a radius equal to the
minimum prediction error limit and centred on the present vessel
position.
A colour-coded circle is shown with a radius equal to the median
test acceptance limit and centred on the median value.
When the Median test is inactive, the Median Test Limit will
show OFF and the circle will not be shown.
407271/D 357
This shows a zoomed-in view of the centre of the plot.

For each position-reference system, the capital letter with no
circle around it represents the last raw position measurement
for this system.
For each position-reference system, the small inner circle with a
capital letter inside represents the filtered position measurement
for this system.
For each position-reference system, the outer circle (dashed)
represents the standard deviation for this system.
An error ellipse is shown. There is a certain statistical confidence

(95 %) that the vessel's position is within the region that is
encircled by this ellipse. (The error region in this example has
the shape of a circle, but generally the region may have an oval
shape.)
A unique capital letter and colour code is assigned to each

reference system to make it easier to differentiate the various
systems in the plot.
Status indicators:
The reference system is not enabled.

The reference system is enabled but not in use.
The reference system is calibrating.
The reference system is enabled and in use.
The reference system is providing the reference origin.

There is an active alarm for this reference system.
There is an active warning for this reference system.

Normally the sample period from a reference system is
set to 1 second. If it is set to larger than 1 second, this
symbol is shown shortly to indicate a missing signal.
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Display views
This shows the status for each reference system or transponder:

Calibrating, Online, Relative, Offline or Lost. For reference
systems in monitoring state, the status text is shown with Mon
as prefix. If the measurements are acceptable, Calibrating and
Online are shown in green (if the last sample was received)
or in orange (if the last sample was not received). If a
position-reference system has a transponder that is defined and
enabled as mobile, then Relative is shown instead of Online,
provided that the optional Follow Target mode has been
previously selected (i.e. at least once).
If the measurements are lost, Offline is shown in red, however,
if the measurements are lost during calibration, Lost is shown
in red. When a reference system is turned off, the weight of
that system is set to zero, and Offline is shown in red before the
system is removed from the Reference system main view.
Numerical values and horizontal bars show the weighting

applied to the measurements from each reference system during
the last second. The sum of weights of reference systems
with Online status is always one hundred (100). If no new
update is received from a specific reference system during the
previous second, the weight for this system is set to zero (and
Online shown in orange). The horizontal bar is not shown
for position-reference systems that have an enabled mobile
transponder, i.e. those with a Relative status.
Shows the relative weight of the enabled position-reference

systems – normal or reduced, as defined in the Reference system
properties dialog box.
These are trend plots. The type of trend plot is selected using the
view-control dialog box. Note that colour-coding is used.
You can also select the Y-axis scale range (either auto or manual
scaling) and the time span.
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Refsys view control

Related topics
Refsys view control - Show page, page 361
Refsys view control - Grid page, page 362
Refsys view control - Range page, page 363
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Display views
Refsys view control - Show page
How to open
Example
Details
Mode
The Target option is used in some applications like Follow target or Offshore
loading mobile transponders/relative position-reference systems.
Plot
Select a trend plot to be shown in the Reference system main view. You can select
between the following options: Bias vector, Standard deviation, Weight.
Time span

Range
automatic or manual scaling for the y-axis plot scale.
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Refsys view control - Grid page
How to open
Example
Details
Show
Spacing
list.
range.
Square/Circular
The type of grid.
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Display views
Refsys view control - Range page
How to open
Example
Details
Enter
new range setting.
Increase Range
Decrease Range
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Rotation center view

The Rotation center view shows the position of all the rotation centres that are available
when the vessel is under automatic control. The coordinates are relative to the Midships
rotation centre.
How to open
Example
Details
The position of the currently-active rotation centre (In Use) is shown in brown.
The position of the proposed rotation centre (Selected) is shown in blue.
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Display views
Sensors view
The Sensors view shows the performance and state of each of the vessel's sensors.
How to open
Example
This view may have several pages depending on the number and type of sensors installed
on the vessel. By clicking the left or right arrow (if present) you can show the next or
previous page.
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Details
Sensor status indications
The sensor is in use.
The sensor is enabled but not in use.
The sensor is not enabled.
There is an active warning for this sensor.
The readings from the sensor are not OK.

- - - - - - Dashes replace the measurement values.
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Display views
Additional sensor information

If there is a symbol next to the sensor name, clicking it will open a Sensor description
dialog box containing details about this type of sensor, for example:
Trend plot
The plot for each sensor has a different colour. You can change the settings for the
information to be shown using the History settings and Range settings view controls.
Used measurements
For some of the sensor types (such as Wind, GPS speed, Doppler speed, Rotation speed,
Draught, Water depth, etc.) the value currently used by the system is shown.
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Thruster forces view

The Thruster forces view shows the resultant thruster forces and the “real” location of
the thrusters.
How to open
Example
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Display views
Details
These are the resultant thruster force and direction, and the
resultant turning moment and direction.
These are numerical values and bar graphs showing the thruster
force for each thruster unit. The bar graphs show the percentage
of the maximum available thrust and are scaled individually.
The numerical values are all based on feedback signals from
the thrusters.
The status boxes show the running, ready and enabled status of
each thruster unit.
Individual thrust vectors (thruster force feedback) for each

thruster are shown. The vectors change colour according to the
change of colour on the corresponding bar graphs (when passing
limit values for percentage of available thrust).
The resultant thruster force vector (starting from the vessel's

midships position) is shown. A graphical indication of turning
moment is also shown. The turning moment has a maximum
sector range of ±180 degrees°.
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The colour of the bars, the background colour of the values and the force vectors change
to orange when the thrusters pass the limit for percentage of available thrust (typically
80 %). This applies only in some modes (depending on your system configuration, but
usually in automatic modes). The colour changes to red when there is a signal error
from one of the thrusters. For example:
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Display views
Thruster main view

The Thruster main view shows the performance and status of all the thrusters.
How to open
You can also press the THR button (Thruster) on the operator panel.
Example
You can toggle the amount of information shown in the view by clicking Show detail /
Hide detail. When the details are hidden, the values always indicate the force in percent.
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Details
Allocation mode shows the currently-selected thrust allocation

mode. Click this area to open the Thrust Allocation dialog box.
Priority shows either HDG (heading) or POS (position).
Free run shows either ON or OFF.
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Display views
The following information is presented:

• a numerical presentation of the resulting turning moment and
direction, a curved bar graph represents the value
• individual thrust vectors for each thruster
• a numerical presentation of the resulting force and direction,
all values are based on feedback signals from the thrusters
The colour of the force vectors changes to orange when the

thrusters pass the limit for percentage of available thrust
(typically 80 %). This applies only in some modes (depending
on your system configuration, but usually automatic modes).
The colour of the force vectors changes to red when there is a

signal error from one of the thrusters.
When using the thruster force bias function, the thrusters are
colour-coded to identify the thruster bias groups.
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These are numerical values and bar graphs showing the thruster
force for each thruster unit. The bar graphs show the percentage
of the maximum available thrust and are scaled individually.
The numerical values are all based on feedback signals from
the thrusters.
The status boxes show the running, ready and enabled status of
each thruster unit.
The colour of the bar and the background colour of the value
change to orange when a thruster passes the limit for percentage
of available thrust (typically 80 %). This applies only in some
modes (depending on your system configuration, but usually in
automatic modes).
The colour of the bar and the background colour of the value
change to red when there is a signal error from the associated
thruster.
When details are shown: numerical and graphical presentation

of pitch/rpm and power feedback for the tunnel thruster. The
green label indicates which system has control of the thrusters.
When details are hidden: numerical and graphical presentation
of the force in percent.

of thruster azimuth and pitch/rpm feedback for each azimuth
thruster. The force direction relative to the thruster is indicated
by the arrow. The green label indicates which system has control
of the thrusters.
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Display views
The brown text FIX is shown for thrusters that use fixed angles.
The green label indicates which system has control of the
thrusters.

of propeller pitch/rpm feedback.
A rudder symbol with numerical and graphical presentation of
rudder angle is shown. Depending on the present mode, the
sector is defined by the maximum rudder angle or maximum
turn-angle for steering rudder/azimuth thruster.
The green labels indicate which system has control of the
thrusters.
For all thruster symbols:

• The colour of the bars changes to orange when the thrusters pass the limit for
percentage of available thrust (typically 80 %). This applies only in some modes
(depending on your system configuration, but usually in automatic modes).
• The colour of the bars changes to red when there is a signal error from one of the
propellers/rudders.
• Click the thruster symbol to show a more detailed view of the thruster.
Related topics
Thruster view - azimuth thruster, page 376
Thruster view - propeller/rudder, page 378
Thruster view - tunnel thruster, page 380
Thruster Sub Plot view control, page 382
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Thruster view - azimuth thruster

The Azimuth thruster view shows the operational state of an azimuth thruster.
How to open
Click the thruster symbol to show a more detailed view of the thruster.
Example
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Display views
Details
A trend plot is shown. You can select the information to be

shown using the Thruster Sub Plot view-control dialog box.
Numerical and graphical presentation of thruster azimuth and

pitch/rpm feedback.
The shaded arcs indicate the forbidden zones.
Status:
• Running — the thruster is running.
• Ready — the thruster is available for control by K-Pos DP.
• Enabled — the thruster is enabled for control by K-Pos DP.
Numerical value and a bar graph showing the thruster force. The
numerical value is based on a feedback signal from the thruster.
The bar graph shows the percentage of the maximum available
thrust. The setpoint force is indicated by an brown line. The bar
graph changes colour to red when the thruster force exceeds the
limit value for percentage of available thrust (typically 80 %).
This is a numerical presentation of the pitch, rpm and azimuth

setpoint and feedback, and the difference between them, shown
as a percentage of the maximum.
The graphical presentation indicates the difference between the
setpoint and feedback (with zero at the centre of the scale).
The arrow changes colour to red to indicate an error.
Use the left or right arrow (if present) to show the subview for
the previous or next thruster unit. Use the up arrow to go back to
the thruster main view.
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Thruster view - propeller/rudder

The Propeller/rudder view shows the operational state of a main propeller and, if
applicable, its associated rudder.
How to open
Example
Details

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Display views
Numerical and graphical presentation of propeller pitch/rpm

feedback are shown.
Numerical and graphical presentation of rudder azimuth
feedback are shown.
A rudder symbol with numerical and graphical presentation of
rudder angle is shown. Depending on the present mode, the
sector is defined by the maximum rudder angle or maximum
turn-angle for steering rudder/azimuth thruster.
Status:

Note that only rpm and azimuth are configured in this example.
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Thruster view - tunnel thruster

The Tunnel thruster view shows the operational state of a tunnel thruster.
How to open
Example
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Display views
Details

Numerical and graphical presentation of thruster pitch/rpm and

power feedback.
Status:

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Thruster Sub Plot view control

How to open
Example
Details
Plot
The trend plot to be shown. The following trend plots are available:
• Thr Pitch
Pitch setpoint and feedback for this thruster.
• Thr RPM
RPM setpoint and feedback for this thruster.
• Thr Azim
Azimuth setpoint and feedback for this thruster.
• Thr Load
Load setpoint and feedback for this thruster.
Time span
Range
plot scale.
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Display views
Auto
Manual
manually.
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Thruster setpoint feedback view

The Thruster setpoint feedback view shows setpoint and feedback data for all the
thrusters.
How to open
Example
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Display views
Details
Indicates the colour coding used on bar graphs and numerical

values for setpoint, feedback and the difference between them.
Status:
These are numerical and graphical presentation of the thruster

azimuth or rudder angle setpoint and feedback, and the
difference between them (in degrees).
These are numerical values and bar graphs of the thruster load
as a percentage of maximum.
These are numerical values and bar graphs of the pitch setpoint
and feedback, and the difference between them, shown as a
percentage of maximum.
These are numerical values and bar graphs of the rpm setpoint
These are numerical values and bar graphs of the force setpoint
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Trends view
The Trends view provides dynamic presentation (trend plots) and numerical values for
trended curves showing the history over a specified period for selected information,
such as wind, sea current, position and heading deviation, thruster forces and power
consumption.
How to open
Example
Description
Using the Trend Plot view-control dialog box you can select the trend plots to be shown.
Up to three different trend plots can be shown simultaneously.
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Display views
Details
The header indicates the name of the variable type for which
you have selected to show the trend plot.
Depending on the type of variable you have selected, one or

several different trend curves will be shown in the same trend
plot. Each curve will have its own specific name shown together
with a unique colour code.
This is a trend plot for the selected variable using colour coding to identify and
differentiate the various variable curves being plotted. The plot has Time span along the
x-axis and measured values along the y-axis. You should note that the most recent values
are plotted to the far right, i.e. that the curves move from right to left on the trend plot.
Each trend plot has its own button. Click this button to open the Trend Numeric
dialog box.
The Trend Numeric dialog box presents a range of numerical properties for all curves
in the trend plot. Values for the following numerical properties can be calculated and
shown: Average, Minimum, Maximum and STD DEV. The values for the numerical
properties are calculated over the Time span over which you have selected to show the
specific trend plot.
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Trend Plot view control

How to open
Example
Details
Plot
The trend plots to be shown. Click the down arrow to the far right of the Plot list
box to open a list from which you can select the variable type to be shown.
Time span
The time span for the trend plots.
Range
plot scale.
Auto
Manual
manually.
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Display panes
Display panes
Topics
Depth pane, page 391
Diesel trend pane, page 391
Gangway Local pane, page 392
Gangway Remote pane, page 392
Gangway Status pane, page 393
Heave pane, page 396
Joystick pane, page 397
Pitch and roll pane, page 398
Pitch roll and heave pane, page 399
Power consumption pane, page 400

Power trend pane, page 401
Reference systems pane, page 402
Residual trend pane, page 402

Speed sensors pane, page 404
Status pane, page 404
Thruster force bar pane, page 405
Thruster force vector pane, page 406
Thruster resultant pane, page 407
Trends pane, page 407
Vessel speed pane, page 408
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Wind pane, page 409
Wind sensors pane, page 410

Wind trend pane, page 410
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Display panes
Depth pane
This pane shows a trend plot of the water depth below the keel.
You can adjust the time span and the y-axis range of the plot using the view-control
dialog box.
Clicking the plot area opens the Trends view showing a more detailed trend plot for
the Depth Sensor.
Related topics
Diesel trend pane

This pane shows a trend plot of the fuel-rack load on the diesel engines.
When you place the cursor over the plot area, arrows are displayed that allow you to
select another generator.
Clicking the plot area opens the Trends view showing the trend plots for Diesel Fuel
Rack and Power Generation Production.
407271/D 391
Related topics
Gangway Local pane

This pane shows the length, azimuth and elevation measurements for the gangway (local).
The bars show both the instantaneous values and the maximum values recorded during
the time span.
Clicking anywhere is this pane opens the Gangway view.
Related topics
Gangway Remote pane

This pane shows the length, azimuth and elevation measurements for the gangway
(remote).
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Display panes
the time span.
Related topics
Gangway Status pane

This pane shows the traffic control (walk/don’t walk) and the general system status for
the gangway.
Related topics
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Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
The title area also indicates the mode in which the heading is
controlled.
These are graphical indications of the axes that are under

automatic control or damping control.
The descriptions of the surge and sway axes apply to a system
with the vessel diagram shown “bow up”.
The surge axis is under automatic or damping control.
The sway axis is under automatic or damping control.
The yaw axis is under automatic or damping control.
When automatic heading control is selected, the heading

deviation is shown. Heading deviation is indicated by a
two-directional bar that represents the deviation from the
heading setpoint. If the deviation exceeds the available display
range, a plus (+) sign is shown in the bar. The range of the bar
is according to alarm limits. The colour of the bar changes
according to the heading warning and alarm limits:
• orange — warning limit exceeded
• red — alarm limit exceeded
Clicking this bar opens the Alarm Limits dialog box.
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Display panes
When the system is under joystick heading control in Joystick

mode, the turning force setpoint and the resulting vessel response
are represented by a bar and a numeric value.
The rotation of the joystick is indicated by a dark grey triangle.
The turning force setpoint is indicated by the brown line and a
light grey triangle.
The obtained turning moment is indicated by a numeric value
(in percent port or starboard). With full thrust selected, the range
is 100 % port to 100 % starboard whereas with reduced thrust
selected, the range is typically 50 % port to 50 % starboard.
Clicking this bar opens the Joystick Settings dialog box.
The vessel heading (either as estimated by the vessel model, or

from the gyrocompass in use) is shown graphically against a
rotating compass rose and as a numeric value.
The heading setpoint is shown graphically on the compass rose
as a brown triangle. The current heading is a blue triangle.
When the system is in Joystick mode (with or without automatic
heading control selected) or Auto Position mode, the shown
vessel heading is as estimated by the vessel model. This is
indicated by the text Model shown under the numeric value.
Clicking this area shows the setpoint values in brown colour.
Shows the selected control strategy for station-keeping

operations, and the gain level (applicable for High Precision and
Relaxed modes).
Clicking this area opens the Gain dialog box.
The vessel's rate of turn (ROT) is shown numerically in degrees

per minute to port or starboard.
Clicking this area shows the setpoint value in brown colour.
If no gyrocompasses are available or the vessel's rate of turn

value is faulty, the ROT value is shown as dashes (- - . -) on
red background.
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Shows the status of the gyro compasses: enabled and in use (in
this example gyro 1), enabled, but not in use (in this example
gyro 2 and 3) and not enabled (in this example gyro 4 and 5).
Clicking this area opens the Sensors dialog box.
Related topics
Sensors dialog box, page 268
Heave pane
This pane shows a trend plot of the vessel’s heave motion.
Clicking the plot area opens the Trends view showing the trend plot for VRS Heave.
Related topics
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Display panes
Joystick pane
This pane shows joystick-related information during Joystick mode.
The joystick setpoint is indicated by the brown line and is shown as two percentage
values (ahead or astern for surge and port or starboard for sway). The obtained response
(feedback) is indicated by the blue bar.
The tilt of the joystick is indicated by the filled grey circle and dashed coordinate lines
that are positioned relative to the centre of the cross formation (zero tilt).
Note
The joystick setpoint relative to the joystick tilt depends on the joystick thrust and the
active joystick precision settings.
Clicking this area opens the Joystick Settings dialog box.

In Mixed Joystick/Auto modes, the bars for the surge or sway axis in automatic control
are replaced by a position deviation bar graph.
The joystick setpoint and response for the axis in joystick control is indicated as
described for the Joystick mode.
The direction of the joystick tilt in the axis under joystick control is indicated by the
position of the filled grey circle.
Position deviation in the axis under automatic control is indicated by a single

bidirectional bar which represents the deviation from the position setpoint. The colour of
the bar changes according to the position warning and alarm limits:
407271/D 397

Related topics
Pitch and roll pane

This pane shows a trend plot of the vessel’s pitch and roll motions.
Clicking anywhere is this pane opens the Trends view showing VRS Roll Angles and
VRS Pitch Angles.
Related topics
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Display panes
Pitch roll and heave pane

This pane shows the vessel’s pitch, roll and heave motion.
the time span.
Clicking anywhere is this pane opens the Sensors view.
Related topics
Position deviation pane

This pane shows position deviation in Auto Position mode.
The position deviation is shown both graphically and numerically. An arrow symbol
shows whether the estimated position is moving towards (green colour, decreasing
deviation) or away from (pink colour, increasing deviation) the position setpoint.
Clicking this area opens the Alarm Limits dialog box.
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The position deviation is indicated by a filled circle whose radius represents the deviation
from the position setpoint. The colour of the circle changes in relation to the position
warning and alarm limits (if active):
• grey — within the limits
Related topics
Power consumption pane

The consumed power for each connect-switchboard is shown in graphical form as a
percentage of available power for each connect-switchboard.
The number of bar graphs shown will be automatically adjusted to reflect the vessel's
current connect-switchboard configuration, i.e. when it changes due to bus-tie breakers
being opened/closed.
Each bar graph has a blue bar and two predefined power consumption limits (one for
warning and one for alarm) that are shown as dashed horizontal line for warning limit
and solid line for alarm limit. If the lower (warning) limit (typically 80 %) is exceeded
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Display panes
the colour of the bar becomes orange. If the upper (alarm) limit (typically 95 %) is
exceeded the colour of the bar changes to red.
Clicking this area opens the Power view.
If any power section is solely supplied by batteries, this is

indicated by the text on the yellow background.
The text on the red background indicates the time left of the
batteries lifetime when this time is less than the alarm limit.
Related topics
Power trend pane

This pane shows a trend plot of the connect switchboard power consumption as
percentage of nominal.
When you place the cursor over the plot area, arrows are displayed that allow to select
another switchboard, if appropriate.
Clicking the plot area opens the Trends view showing the trend plots for Power Generator
Production and Connect-swbd Consumption/Nominal.
Related topics
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Reference systems pane

This pane shows the position information from all active references systems relative to
the vessel’s estimated position (the centre of the pane).
You can adjust the range of the plot using the view-control dialog box.
Clicking the plot area opens the Reference system main view.
Related topics
Residual trend pane

This pane shows a trend plot of the residual force as current speed and direction.
select between Residual speed and Residual direction.
dialog box.
Clicking the plot area opens the Trends view showing the trend plots for Residual
Moment and Residual Force.
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Display panes
Related topics
Rotation center position pane

This pane shows the position of the vessel’s rotation centre in the current coordinate
system.
with the system, becomes the reference origin (the origin in the internal coordinate
system). Position information from any other reference systems is then calibrated
according to this coordinate system.
Clicking the coordinates displays the position setpoint in brown text.
Clicking the vessel symbol opens the Rotation Center dialog box.
Clicking the name of the reference origin opens the Reference System Settings dialog box.
Clicking the area indicating the DP class opens the DP Class dialog box.
During position drop-out the background changes to red to

indicate the error situation.
This part of the pane is used during the DP Online Consequence

Analysis function. It indicates which DP class is selected, the
time to the next analysis and the lifetime of the batteries in case
of worst single failure (WSF). The background changes to red
when this time is less than the alarm limit. This is not visible if
no batteries are connected to the switchboard.
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Related topics
Reference system settings dialog box, page 261
Speed sensors pane

This pane shows information from the speed sensors.
The names of the sensors and the colour coding for the sensor status are the same as
on the Sensor view.
Clicking any position on this pane opens the Sensor view.
Related topics
Status pane
This pane shows the status of reference systems, sensors, generators, thrusters and
batteries.
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Display panes
When you place the cursor over this pane, arrows are displayed that allow you to move
between the available pages of status information.
Clicking any position on this pane opens the corresponding view.
Thruster force bar pane

This pane shows the thruster force for each thruster as percentage of nominal.
Clicking within the force bars opens the Thruster main view.
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Related topics
Thruster force vector pane

This pane shows the thruster force and direction from all the thrusters.
Allocation mode
Shows the currently-selected thrust allocation mode. Clicking this area opens the
Thrust Allocation dialog box.
Moment
Shows the resulting turning moment. This is also indicated in the curved bar graph.
Resultant force
Shows the combined resultant force from all the thrusters, based on feedback
signals from the thrusters.
Resultant dir
Shows the direction of the combined resultant from all the thrusters.
Individual thrust vectors show the force and direction for each thruster. A larger arrow
shows the combined force and direction from all the thrusters.
The colour of the force vectors changes to orange when the thrusters pass the limit
for percentage of available thrust (typically 80 %). This applies only in some modes
(depending on your system configuration, but usually automatic modes).
The colour of the force vectors changes to red when there is a signal error from one of
the thrusters.
When using the thruster force bias function, the thrusters are colour-coded to identify
the thruster bias groups.
Clicking the vessel diagram in this pane opens the Thruster main view.
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Display panes
Related topics
Thruster resultant pane

This pane shows a trace of the resultant thruster force and direction.
Clicking the plot area opens the Trends view showing the Thruster Resultant Force, the
Thruster Resultant Force Dir and the Thruster Resultant Moment.
Related topics
Trends pane
This pane allows you to select and display various trend plots
When you select this pane it opens with the trend plot that was last displayed in this
pane. For example:
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You can select the plot to be displayed, the time-span of the plot, and the range of the
plot, using the view-control dialog box.
Clicking the plot area opens the Trends view showing the corresponding detailed trend
plot.
Vessel speed pane

This pane shows the vessel speed and direction
The vessel's speed is shown in the top right-hand corner of the pane.
SOG/STW: The indicator next to the reading for speed tells you
whether speed over ground (SOG) or speed through water (STW) is
shown.
The name of the sensor measuring the speed is usually shown. If the
vessel speed is input manually, this is indicated by the text Manual on
yellow background. If it is calculated by the system, it is indicated by
the text Model on yellow background.
Clicking this area shows the setpoint values in brown colour.
The blue pointer indicates the course over ground together with the
value in degrees.
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Display panes
Forward/reverse speed: The value of the speed forward or in reverse is

shown in the centre of the fixed ship symbol, where it appears beneath
the arrow indicating forwards (green) or reverse (pink).
Clicking this area opens the Speed Setpoint dialog box.
Transverse speed: Transverse speeds at the stern and at the bow are
also shown; green arrow to starboard, pink arrow to port.
Related topics
Speed setpoint dialog box, page 284
Wind pane
This pane shows the current wind speed and direction and a trace of the recent history
as measured by the wind sensor that is currently in use.
You can adjust the time span and the range of the plot using the view-control dialog box.
Clicking the plot area opens the Sensors view showing more information for the wind
sensors.
If the wind sensor is disabled or becomes unserviceable the last known valid wind
sensor measurement is used and the sensor name is replaced by the word Freeze on
yellow background.
Related topics
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Wind sensors pane

This pane shows the measured wind speed and direction from each of the wind sensors.
Clicking a sensor symbol opens the Sensors dialog box (Wind page).
Clicking elsewhere on this pane opens the Sensors view showing more information
for the wind sensors.
Related topics
Wind trend pane

This pane shows a trend plot of the wind speed and direction as measured by the wind
sensor that is currently in use.
select wind speed or wind direction.
dialog box.
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Display panes
Clicking the plot area opens the Trends view showing the trend plots for Environmental
Dir True and Environmental Speed.
Related topics
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Index
A CHANGE POSITION button ............................. 65

Change User dialog box ................................. 156
About dialog box ......................................... 141
changing heading ........................................... 60
Acceleration/deceleration settings dialog box ........ 143
changing position ........................................... 64
ACK button.......................................... 104–105
Clutch settings dialog box ............................... 157
acknowledge
combinator control........................................ 305
alarm..................................................... 104
command
message ................................................. 104
requesting ................................................. 87
alarm
taking ............................................. 45, 85–86
acknowledging ......................................... 104
Command Control dialog box........................... 159
lamps
DP-OS ................................................... 162
ALARM........................................ 101, 105
Give...................................................... 164
FAULT ............................................... 105
Overview................................................ 163
POWER .............................................. 105
command groups.......................................... 164
states ..................................................... 103
command transfer........................................... 85
ALARM lamp ............................................. 101
Connect dialog box ....................................... 166
alarm limit
consequence analysis
heading .................................................... 75
alarm messages......................................... 128
position .................................................... 76
DP........................................................ 127
Alarm limits dialog box.................................. 145
status information...................................... 128
Position.................................................. 146
status messages......................................... 128
VRS...................................................... 148
controller gain ............................................... 76
ALARM VIEW button............................. 104–105
coordinate systems........................................ 119
ALARMS button group .................................. 105
critical system messages ................................. 109
allocation mode
setting ..................................................... 77
Allocation settings dialog box .......................... 149 D
Alongship force control dialog box .................... 152
angle factor ................................................ 303 dashboard .................................................... 35
AUTO POSITION button ................................. 59 date and time
Auto Position mode ........................................ 59 setting ..................................................... 78
Date and Time dialog box ............................... 167
datum ....................................................... 119
B Datum details dialog box ................................ 168
bias type.................................................... 299 degrees of freedom ......................................... 13
blackout prevention....................................... 131 Depth pane................................................. 391
buttons........................................................ 26 dialog boxes ............................................... 138
ACK ............................................... 104–105 About .................................................... 141
ALARM VIEW .................................. 104–105 Acceleration/deceleration settings................... 143
AUTO POSITION ....................................... 59 Alarm limits ............................................ 145
CHANGE HEADING................................... 63 Position............................................... 146
CHANGE POSITION................................... 65 VRS................................................... 148
GIVE ................................................. 85–86 Allocation settings ..................................... 149
HARDCOPY ............................................. 83 Alongship force control ............................... 152
JOY. FULL THRUST ................................... 71 Change User ............................................ 156
JOYSTICK ............................................... 56 Clutch settings.......................................... 157
JOYSTICK SETUP ..................................... 71 Command Control ..................................... 159
PRESENT HEADING ............................. 56, 64 DP-OS ................................................ 162
PRESENT POSITION .................................. 67 Give................................................... 164
SET HEADING........................................ 195 Overview............................................. 163
SILENCE ............................................... 105 Connect.................................................. 166
STOP ................................................. 63, 67 Date and Time.......................................... 167
SURGE............................................... 57–58 Datum details........................................... 168
SWAY ................................................ 57–58 DP class ................................................. 169
TAKE................................................. 45, 85 EBL ...................................................... 170
YAW .................................................. 56, 58 Enter Value ............................................... 38
Equipment .............................................. 171
Event Printer......................................... 178
C Net Status ............................................ 179
calibrating the joystick ..................................... 94 OS/HS ................................................ 176
CHANGE HEADING button ............................. 63 PS Redundancy ..................................... 174
412 407271/D
Index
EquipmentPS ........................................... 172 Set System Date/Time................................. 283

Event Printer............................................ 181 Speed setpoint .......................................... 284
Export Log Files ....................................... 182 Station Explorer........................................ 285
FW Manager............................................ 183 Stop/restart.............................................. 288
Gain...................................................... 184 Thrust allocation ....................................... 289
Gyro deviation ......................................... 188 Thruster biasing ........................................ 293
Heading ................................................. 190 Thruster combinator control settings................ 305
Heading .............................................. 191 Thruster enable......................................... 307
Rate of turn .......................................... 193 Thruster Enable .......................................... 46
Heading (Setpoint)..................................... 194 Thruster run-in ......................................... 309
Heading Setp............................................ 195 Thruster Sub Plot ...................................... 382
IO Manager ............................................. 196 Trainer settings ......................................... 311
IO Configurator ..................................... 197 Trend Plot ............................................... 388
IO Point Browser ...................................... 199 UTM properties ........................................ 312
IO Terminal Block ..................................... 202 Diesel trend pane.......................................... 391
Joystick Calibrate ...................................... 208 Diesel view ................................................ 316
Joystick settings........................................ 209 display layout................................................ 29
Light Taut Wire Plot................................... 331 dashboard ................................................. 35
Local N/E properties .................................. 212 side bar .................................................... 36
Numeric entry keypad dialog use.................... 214 top bar ..................................................... 32
Panel Lamp Test ....................................... 216 working areas............................................. 36
Panel Light Configuration ............................ 217 display palette ............................................... 80
Position.................................................. 218 divergence test ............................................ 120
Abs.................................................... 223 DP class dialog box....................................... 169
Inc..................................................... 219 draught
R/B.................................................... 221 selecting ................................................... 53
Speed ................................................. 225
Position (Setpoint) ..................................... 231
Position inc ............................................. 226 E
Position presentation .................................. 228 EBL dialog box ........................................... 170
Position R/B ............................................ 227 Enter Value dialog box ..................................... 38
Posplot .................................................. 342 Equipment dialog box .................................... 171
Grid ................................................... 344 Event Printer............................................ 178
Motion................................................ 342 Net Status ............................................... 179
Range ................................................. 345 OS/HS ................................................... 176
Show.................................................. 343 PS ........................................................ 172
Trace.................................................. 346 PS Redundancy ........................................ 174
Power optimal allocation ............................. 232 Event List view............................................ 319
Power plot .............................................. 352 Event Printer dialog box ................................. 181
Preselect................................................. 234 Export Log Files dialog box............................. 182
Presentation units ...................................... 236
Print status .............................................. 238
Quick model ............................................ 239 F
RBUS IO Image........................................ 241
Redundant Stations .................................... 245 freeze test .................................................. 120
Reference system ...................................... 250 FW Manager dialog box ................................. 183
Enable ................................................ 251
Validation ............................................ 254
Weight ................................................ 252 G
Reference system origin .............................. 256 gain
Reference system properties.......................... 258 selecting level ............................................ 76
Reference system settings ............................ 261 Gain dialog box ........................................... 184
Refsys ................................................... 360 gain level................................................... 186
Grid ................................................... 362 Gangway Local pane ..................................... 392
Range ................................................. 363 gangway monitoring........................................ 68
Show.................................................. 361 Gangway Remote pane................................... 392
Reset controller PS .................................... 264 Gangway Status pane..................................... 393
Rotation center ......................................... 265 Gangway view ............................................ 322
Sensors .................................................. 268 GIVE button ............................................ 85–86
Draught............................................... 269 giving command ............................................ 85
Gyro .................................................. 271 green control mode ......................................... 16
Rate of turn .......................................... 273 Gyro deviation dialog box ............................... 188
Speed ................................................. 275 gyrocompass
VRS................................................... 278 enabling ................................................... 46
Wind .................................................. 280
407271/D 413
heading dropout ........................................ 113 operational checks ..................................... 100

prediction error................................... 112–113 system diagnostics ..................................... 100
rejected measurements ................................ 112 messages
acknowledging ......................................... 104
explanations ............................................ 107
H printed ................................................... 106
handling position information........................... 118 minimum power heading .................................. 77
HARDCOPY button........................................ 83 modes
heading Auto Position ............................................. 59
changing................................................... 60 Joystick.................................................... 56
dropout .................................................. 113 monitoring ................................................... 98
limits....................................................... 75
prediction error......................................... 113 N
Heading (Setpoint) dialog box .......................... 194
Heading dialog box ....................................... 190 Numeric entry keypad dialog use dialog box ......... 214
Heading ................................................. 191 Numeric view ............................................. 333
Rate of turn ............................................. 193
Heading pane .............................................. 394 O
Heading Setp. dialog box................................ 195
heading wheel .......................................... 28, 60 operator panel ............................................... 25
Heave pane ................................................ 396 buttons..................................................... 26
help system ................................................ 107 heading wheel ............................................ 28
High Precision controll mode ............................. 16 joystick .................................................... 27
trackball ................................................... 27
operator pop-up messages ............................... 108
I operator station.............................................. 24
inwards factor ............................................. 304 restarting .................................................. 89
IO Manager dialog box .................................. 196
IO Configurator ........................................ 197 P
IO Point Browser dialog box ............................ 199
IO Terminal Block dialog box .......................... 202 panel
testing ..................................................... 89
Panel Lamp Test dialog box ............................. 216
J panel light.................................................... 80
JOY. FULL THRUST button.............................. 71 Panel Light Configuration dialog box.................. 217
joystick ....................................................... 27 panes
calibration................................................. 94 Depth .................................................... 391
precision................................................... 71 Diesel trend ............................................. 391
thrust setting .............................................. 71 Gangway Local ........................................ 392
JOYSTICK button .......................................... 56 Gangway Remote ...................................... 392
Joystick Calibrate dialog box ........................... 208 Gangway Status ........................................ 393
Joystick mode ............................................... 56 Heading ................................................. 394
Joystick pane .............................................. 397 Heave .................................................... 396
Joystick settings dialog box ............................. 209 Joystick.................................................. 397
JOYSTICK SETUP button ................................ 71 Pitch and roll ........................................... 398
Joystick view .............................................. 324 Pitch roll and heave.................................... 399
Position deviation...................................... 399
Power consumption.................................... 400
K Power trend ............................................. 401
Reference systems ..................................... 402
Kalman Filter................................................ 14 Residual trend .......................................... 402
Rotation center position............................... 403
L Speed sensors........................................... 404
Status .................................................... 404
Light Taut Wire Plot dialog box ........................ 331 Thruster force bar ...................................... 405
limits Thruster force vector .................................. 406
heading .................................................... 75 Thruster resultant ...................................... 407
position .................................................... 76 Trends ................................................... 407
Local N/E properties dialog box ........................ 212 Vessel speed ............................................ 408
LTW view.................................................. 328 Wind ..................................................... 409
Wind sensors ........................................... 410
Wind trend .............................................. 410
M panning views ............................................... 40
median test................................................. 120 Pitch and roll pane ........................................ 398
message system ............................................. 99 Pitch roll and heave pane ................................ 399
414 407271/D
Index
position rate-of-turn sensor

changing................................................... 64 enabling ................................................... 53
dropout .................................................. 116 RBUS IO Image dialog box ............................. 241
limits....................................................... 76 redundancy................................................... 20
Position (Setpoint) dialog box .......................... 231 Redundant Stations dialog box.......................... 245
Position deviation pane .................................. 399 redundant system
Position dialog box ....................................... 218 dual ........................................................ 20
Abs....................................................... 223 error objects ............................................ 248
Inc........................................................ 219 triple ....................................................... 21
R/B....................................................... 221 reference origin ............................................. 49
Speed .................................................... 225 changing................................................... 51
Position inc dialog box................................... 226 description .............................................. 119
position information Reference system dialog box............................ 250
handling ................................................. 118 Enable ................................................... 251
Position presentation dialog box........................ 228 Validation ............................................... 254
Position R/B dialog box.................................. 227 Weight ................................................... 252
position-reference system Reference system main view ............................ 356
divergence test ......................................... 120 Reference system origin dialog box .................... 256
enabling .............................................. 49–50 Reference system properties dialog box ............... 258
freeze test ............................................... 120 Reference system settings dialog box .................. 261
median test.............................................. 120 Reference systems pane.................................. 402
position dropout........................................ 116 Refsys dialog box ................................... 360–363
prediction test .......................................... 120 Relaxed controll model .................................... 16
reference origin .......................................... 49 remote support .............................................. 92
variance test ............................................ 120 requesting command ....................................... 87
Posplot dialog box ........................................ 342 Reset controller PS dialog box .......................... 264
Grid ...................................................... 344 resetting controller PS...................................... 90
Motion................................................... 342 Residual trend pane....................................... 402
Range .................................................... 345 ROT .......................................................... 74
Show..................................................... 343 Rotation center dialog box............................... 265
Trace..................................................... 346 Rotation center position pane ........................... 403
Posplot view ............................................... 336 Rotation center view...................................... 364
power rotation centre
blackout prevention.................................... 131 selecting ................................................... 72
monitoring .............................................. 131 rudder/nozzle control..................................... 150
Power consumption pane ................................ 400
Power consumption view ................................ 354
Power optimal allocation dialog box ................... 232 S
Power plot dialog box .................................... 352 sensor errors ............................................... 111
Power trend pane.......................................... 401 Sensors dialog box........................................ 268
Power view ................................................ 348 Draught.................................................. 269
prediction test ............................................. 120 Gyro ..................................................... 271
Preselect dialog box ...................................... 234 Rate of turn ............................................. 273
preselecting views .......................................... 82 Speed .................................................... 275
PRESENT HEADING button........................ 56, 64 VRS...................................................... 278
PRESENT POSITION button............................. 67 Wind ..................................................... 280
presentation units ........................................... 81 Sensors view............................................... 365
Presentation units dialog box............................ 236 SET HEADING button .................................. 195
Print status dialog box.................................... 238 Set System Date/Time dialog box ...................... 283
printing side bar ....................................................... 36
display picture............................................ 83 signal conditioning elements ............................ 206
status page ................................................ 83 SILENCE button.......................................... 105
system messages ....................................... 106 speed sensor
system report ............................................. 83 enabling ................................................... 51
process station Speed sensors pane ....................................... 404
resetting ................................................... 90 Speed setpoint dialog box ............................... 284
Station Explorer dialog box ............................. 285
Status pane................................................. 404
Q STOP button............................................ 63, 67
Quick model dialog box ................................. 239 Stop/restart dialog box ................................... 288
SURGE button ......................................... 57–58
SWAY button ........................................... 57–58
R system architecture ......................................... 95
rate of turn ................................................... 74 system datum .............................................. 119
407271/D 415
T Refsys ................................................... 360

Grid ................................................... 362
TAKE button ........................................... 45, 85
Range ................................................. 363
taking command ................................... 45, 85–86
Show.................................................. 361
testing the panel ............................................. 89
Thruster Sub Plot ...................................... 382
Thrust allocation ............................................ 19
Trend Plot ............................................... 388
Thrust allocation dialog box............................. 289
view-control dialog boxes ................................. 42
thruster biasing
views
angle factor ............................................. 303
Azimuth thruster ....................................... 376
automatic biasing ...................................... 296
Diesel .................................................... 316
bias type................................................. 299
Event List ............................................... 319
inwards factor .......................................... 304
Gangway ................................................ 322
manual biasing ......................................... 294
Joystick.................................................. 324
turn factor ............................................... 302
LTW ..................................................... 328
Thruster biasing dialog box ............................. 293
Numeric ................................................. 333
Thruster combinator control settings dialog
Posplot .................................................. 336
box ........................................................ 305
Power consumption.................................... 354
Thruster enable dialog box .............................. 307
Power view ............................................. 348
Thruster Enable dialog box................................ 46
preselecting ............................................... 82
Thruster force bar pane .................................. 405
Propeller/rudder ........................................ 378
Thruster force vector pane............................... 406
Reference system main................................ 356
Thruster forces view...................................... 368
Rotation center ......................................... 364
Thruster main view ....................................... 371
Sensors .................................................. 365
Thruster resultant pane ................................... 407
Thruster forces ......................................... 368
Thruster run-in dialog box............................... 309
Thruster main........................................... 371
Thruster setpoint feedback view ........................ 384
Thruster setpoint feedback............................ 384
Thruster Sub Plot dialog box ............................ 382
Trends ................................................... 386
Thruster view
Tunnel thruster ......................................... 380
Azimuth thruster ....................................... 376
Propeller/rudder ........................................ 378
Tunnel thruster ......................................... 380 W
thrusters
allocation mode .......................................... 77 warning limit
enabling ................................................... 46 heading .................................................... 75
top bar ........................................................ 32 position .................................................... 76
trackball ...................................................... 27 warning messages
trainer................................................. 134–135 explanations ............................................ 107
Trainer settings dialog box .............................. 311 wind compensation ......................................... 71
transferring command ...................................... 85 Wind pane.................................................. 409
Trend Plot dialog box .................................... 388 wind sensor
Trends pane ................................................ 407 enabling ................................................... 47
Trends view................................................ 386 errors..................................................... 113
turn factor .................................................. 302 Wind sensors pane ........................................ 410
Wind trend pane........................................... 410
working areas................................................ 36
U
UTM properties dialog box.............................. 312
Y
YAW button ............................................ 56, 58
V
variance test ............................................... 120
vertical reference sensor Z
enabling ................................................... 48 zooming views .............................................. 40
errors..................................................... 115
vessel draught ............................................... 53
Vessel speed pane ......................................... 408
view controls
Light Taut Wire Plot................................... 331
Posplot .................................................. 342
Grid ................................................... 344
Motion................................................ 342
Range ................................................. 345
Show.................................................. 343
Trace.................................................. 346
Power plot .............................................. 352
416 407271/D
K-Pos Auto Track Mode
Operator Manual
Release 8.3
407281/B
May 2017 © Kongsberg Maritime AS
Document history
Document number: 407281 / Revision B

Rev. A July 2016 This version describes operation of the Auto Track mode for the K-Pos
system at basis software release 8.3.0.
Rev. B May 2017 This version describes operation of the Auto Track mode for the K-Pos
system at basis software release 8.3.2.
The reader
Note
Warning
Comments
www.kongsberg.com
Operator Manual
Table of contents
SYSTEM OVERVIEW ................................................................. 5

Auto Track mode description.............................................................................................6
Functions available in low-speed tracking mode...............................................................7
Functions available in move-up tracking mode .................................................................9
Functions available in high-speed tracking mode............................................................10
Definitions........................................................................................................................ 11
DEFINING A TRACK ............................................................... 14
Waypoint table management............................................................................................15
Defining tracks using the graphic track editor .................................................................16
Defining a new track...............................................................................................16
Moving a waypoint.................................................................................................17
Inserting a new waypoint .......................................................................................18
Deleting a waypoint................................................................................................18
Defining tracks in the Auto Track editor .........................................................................19
Entering waypoints manually .................................................................................19
Inserting waypoints in a table.................................................................................20
Deleting waypoints from a table ............................................................................21
Deleting a waypoint table.......................................................................................21
Receiving waypoints from external computer .................................................................22
Receiving a new waypoint table.............................................................................23
Adding waypoints to an existing table ...................................................................23
Saving a track to a file......................................................................................................24
PREPARING FOR OPERATION ................................................ 25
Preparing for Auto Track operation .................................................................................26
Approaching the track......................................................................................................27
Recommended start position............................................................................................28
Safe start sector ................................................................................................................29
Handling position information.........................................................................................29
CONTROLLING THE VESSEL ................................................... 32
Running Auto Track low-speed mode .............................................................................33
Joystick heading control .........................................................................................33
Joystick speed control ............................................................................................34
Changing track direction ........................................................................................34
Running Auto Track high-speed mode ............................................................................35
Joystick speed control ............................................................................................36
Changing track direction ........................................................................................36
Running Auto Track move-up mode ...............................................................................37
407281/B 3
K-Pos Auto Track Mode
Joystick heading control .........................................................................................39

Limitations in move-up tracking mode ..................................................................39
Resuming Auto Track mode ............................................................................................43
Using emergency stop......................................................................................................44
SETTING SYSTEM PARAMETERS............................................. 45
Adjusting the turn radius..................................................................................................46
Changing the crab angle...................................................................................................47
Offsetting the track ..........................................................................................................47
Offsetting a leg on the track.............................................................................................48
DIALOG BOXES ...................................................................... 50
Alarm limits dialog box - Position page ..........................................................................52
Approach track dialog box...............................................................................................54
AutoTrack editor dialog box ............................................................................................55
AutoTrack move-up dialog box .......................................................................................58
AutoTrack offset dialog box ............................................................................................61
AutoTrack settings dialog box .........................................................................................64
General page...........................................................................................................65
Stop page ................................................................................................................69
Heading page ..........................................................................................................72
Speed page..............................................................................................................77
Turn page................................................................................................................81
Receive page...........................................................................................................83
AutoTrack update strategy dialog box .............................................................................85
Crab angle dialog box ......................................................................................................86
Steering dialog box ..........................................................................................................87
Steering page ..........................................................................................................88
Gain page................................................................................................................95
Compensate page....................................................................................................98
Waypoint dialog box ......................................................................................................100
DISPLAYED INFORMATION.................................................. 102
Conning view .................................................................................................................103
Heading pane ........................................................................................................104
Steering control mode pane ..................................................................................105
Steering pane ........................................................................................................107
Cross track distance pane...............................................................................................108
Posplot view control - Show page ................................................................................. 110
4 407281/B
System overview
System overview
Topics
Auto Track mode description, page 6
In the Auto Track mode, the vessel accurately follows a predefined track, described by a set of
waypoints. The system controls the vessel to minimise the deviation from the track (cross-track
error).
Functions available in low-speed tracking mode, page 7
In the low-speed tracking mode, the speed along the track is controlled very accurately with the
option to run as slowly as a few centimetres per second.
Functions available in move-up tracking mode, page 9
In the move-up tracking mode, the operator can move the vessel a specified distance along the
track. All the thrusters are used to provide full position and heading control. The vessel stays on
the track in a fixed position until the operator initiates a new move (move-up).
Functions available in high-speed tracking mode, page 10
The high-speed tracking mode allows the vessel to follow the track at any vessel speed above
approximately 4 knots.
Definitions, page 11
These are some of the main terms and abbreviations used when describing the Auto Track mode.
407281/B 5
K-Pos Auto Track Mode Operator Manual
Auto Track mode description

In the Auto Track mode, the vessel accurately follows a predefined track, described by
a set of waypoints. The system controls the vessel to minimise the deviation from the
track (cross-track error).
The Auto Track mode covers low-speed, high-speed and move-up operations using
different strategies for speed and heading control.
In the Auto Track (low-speed) mode, all the available thrusters are used to provide full
position and heading control. This strategy gives high-accuracy position control and
allows full freedom in selecting the vessel heading, but its use is limited to speeds up
to approximately three knots. This limit depends on the shape of the vessel's hull and
the configuration of the propulsion system. The speed along the track is controlled very
accurately with the possibility of running as slowly as a few centimetres per second.
In the Auto Track (high-speed) mode, the vessel heading is controlled (by default using
rudder or thruster azimuth control, but may also apply bow thruster assistance depending
on speed) to minimise the cross-track error while maintaining the required speed. This
strategy is suitable at normal cruising speeds, above 3 to 4 knots. When moving slowly
in high-speed tracking mode, additional thrusters may be used to assist in controlling
the vessel heading.
In the Auto Track (move-up) mode, you can move the vessel a specified distance along
the track. All the thrusters may be used to provide full position and heading control. The
vessel stays on the track in a fixed position until you initiate a move-up.
Note
All Auto Track modes are for marine operations only and are not to be used for
navigation purposes.
The waypoints which describe the required track are stored in a waypoint table. This table
can contain up to 1000 waypoints. You can manually edit the waypoints in the waypoint
table, define a track directly on the Posplot view using the cursor or receive predefined
track definitions from an external computer system. The track is displayed on the Posplot
view (if the track is selected for display and lies within the current display range).
To achieve high accuracy, the Auto Track mode requires a reliable position-reference
system, gyrocompass and wind sensor, and a satisfactory propulsion system.
6 407281/B
System overview
Functions available in low-speed tracking

mode
In the low-speed tracking mode, the speed along the track is controlled very accurately
with the option to run as slowly as a few centimetres per second.
Heading control functions

• System Selected Heading
Selects one of the following options:
– Waypoint Table uses the heading defined in the waypoint table for each section
of the track.
– Towards Waypoint sets the required heading to be towards the next waypoint,
modified with the operator-specified crab angle.
– Minimum Power uses the heading which requires the minimum power, calculated
according to the environmental forces and the vessel speed. In calm weather, the
track heading will be used as the wanted heading.
– Along Arc sets the required heading to correspond to the tangent of the arc when
passing waypoints, modified with the operator-specified crab angle.
• Operator Specified Heading
Enables the operator to change the heading at any time.
• Change Crab Angle
Offsets the heading setpoint relative to the track as described for System Selected
Heading. The following methods can be used by the operator to define the crab angle:
– Set Crab Angle, which can be used both before and during operation.
– Change Crab Angle by Heading Wheel with Buttons Dec, Set and Inc, to
increase/decrease the crab angle during operation. Available when Heading Wheel
is included in the delivery.
• Joystick Heading Control
By disabling heading control, the operator can manually control the rotation of the
vessel using the joystick. The operator should reselect automatic heading control
when the required heading is reached.
Speed control functions

• Speed setpoint
The required speed of the vessel along each section of the track can be either obtained
from the waypoint table or specified by the operator.
• Speed strategies for passing waypoints:
– Slowing down at each waypoint before continuing to the next (used when the
vessel must remain on track, even during sharp turns)
407281/B 7
– Passing the Waypoint at a Constant Speed following a circular arc between the
two track legs.
• Speed control
The required vessel speed is automatically maintained by use of position and speed
measurement.
• Joystick Speed Control
The operator uses the manual joystick to control the vessel speed. This can be chosen
at any time by the operator by deselecting automatic control of the forward speed of
the vessel (surge).
Turning control functions

• The turn radius can be:
– Obtained from the waypoint table for each waypoint
– Calculated automatically according to the vessel speed and requested ROT
– Specified online by the operator (common for all waypoints)
• Set ROT
Enables the operator to specify the rate of turn (ROT) to be used by the system when
rotating the vessel to a new heading.
• Set ROT Acceleration
Enables the operator to specify the acceleration/deceleration in yaw that can be used
for the rate of turn acceleration scaling.
• Wheel-Over Point Warning (WOP)
Allows the operator to specify whether a warning is to be given before reaching a
Wheel-Over Point (where a turn is initiated before a waypoint).
Stopping control functions

• Stop On Track
Stops the vessel on the track while maintaining the required heading. Deselecting this
function causes the vessel to continue moving along the track.
There are two strategies for Stop: either to slow down and stop, or to slow down, stop
and move back to the point at which Stop was initiated.
• Stop at Last Waypoint
Allows the operator to specify that the vessel should stop at the last waypoint.
Otherwise the vessel will continue in the same direction past the last waypoint.
General functions
• Leg Offsetting
Allows the operator to offset the vessel a specified distance to the left or right of the
track direction without changing the track definition itself.
8 407281/B
System overview
• Touch Down Distance

Allows the operator to specify the distance from the vessel's rotation center to the
pipe/cable touchdown point on the sea bed. The vessel track in a waypoint turn is then
calculated so that the pipe/cable touchdown point will be placed on the intended track.
• Track Direction
Allows the operator to specify the direction in which the defined track is to be
followed:
– Forward: waypoints are to be followed in ascending order of waypoint number
– Reverse: waypoints are to be followed in descending order of waypoint number
An operator change of Track Direction in low-speed tracking mode will cause a Stop
On Track. When this Stop is deselected (on the operator panel), the vessel will move
according to the selected Track Direction.
Functions available in move-up tracking

mode
In the move-up tracking mode, the operator can move the vessel a specified distance
along the track. All the thrusters are used to provide full position and heading control.
The vessel stays on the track in a fixed position until the operator initiates a new move
(move-up).
The move-up tracking mode has the same basic functionality as low-speed tracking mode.
The following functions are available through the AutoTrack Move-up dialog box:
• Move-up Distance
Enables the operator to move the vessel a specified distance (to a new position
setpoint) along the track. The operator can also apply a distance adjustment during a
move-up.
• Monitoring of the Move-up
Enables the operator to monitor the progress of the present move-up (moved and
remaining distance) and the total distance moved when the move-up is performed
in more than one step.
• Setting the Speed Setpoint and Acceleration
Enables the operator to specify the speed setpoint and acceleration for the vessel
during a move-up. The speed setpoint can also be obtained from the waypoint table.
407281/B 9
Functions available in high-speed tracking

mode
The high-speed tracking mode allows the vessel to follow the track at any vessel speed
above approximately 4 knots.
Heading control functions

The heading required to keep the vessel on the track, is continuously calculated by
the system, according to the vessel speed and the environmental forces. The heading
is continuously controlled to return the vessel to the track if it should drift off. The
operator can change or limit the crab angle (the angle between the vessel heading and
the track leg direction).
Speed control functions

• Speed setpoint
The required speed of the vessel along each section of the track can be either obtained
from the waypoint table or specified by the operator.
• Speed control functions:
The operator can define how the required vessel speed should be maintained:
– Auto Speed
The speed is maintained either using position and speed measurements or using
constant pitch/rpm based on a preprogrammed Speed/Thrust Table.
– Speed Deadband
The operator specifies a deadband value within which the speed can
increase/decrease without causing the applied thrust to change. This function is
available when position and speed measurements are used.
• Joystick Speed Control
The operator uses the manual joystick to control the vessel speed. This can be chosen
at any time by the operator by deselecting automatic control of the forward speed of
the vessel (surge).
Turning control functions

• The turn radius can be:
– Obtained from the waypoint table for each waypoint
– Calculated automatically according to the vessel speed and requested ROT
– Specified online by the operator (common for all waypoints)
• Set ROT
Enables the operator to specify the rate of turn (ROT) to be used by the system when
rotating the vessel to a new heading.
10 407281/B
System overview
• Set ROT Acceleration

Enables the operator to specify the acceleration/deceleration in yaw that can be used
for the rate of turn acceleration scaling.
• Wheel-Over Point Warning (WOP)
Allows the operator to specify whether a warning is to be given before reaching a
Wheel-Over Point (where a turn is initiated before a waypoint).
Stopping control functions

• Stop On Track
Stops the vessel on the track while maintaining the required heading. Deselecting this
function causes the vessel to continue moving along the track.
There are two strategies for Stop: either to slow down and stop, or to slow down, stop
and move back to the point at which Stop was initiated.
General functions
• Leg Offsetting
Allows the operator to offset the vessel a specified distance to the left or right of the
track direction without changing the track definition itself.
• Touch Down Distance
Allows the operator to specify the distance from the vessel's rotation center to the
pipe/cable touchdown point on the sea bed. The vessel track in a waypoint turn is then
calculated so that the pipe/cable touchdown point will be placed on the intended track.
• Track Direction
Allows the operator to specify the direction in which the defined track is to be
followed:
– Forward: waypoints are to be followed in ascending order of waypoint number
– Reverse: waypoints are to be followed in descending order of waypoint number
An operator change of Track Direction in high-speed tracking mode will, according to
the selection made by the operator, either cause a Stop On Track and then reverse with
the original heading, or make a 180° turn.
Definitions
These are some of the main terms and abbreviations used when describing the Auto
Track mode.
Current track
The track shown in the Posplot view when graphical track editing is not in use
(provided that Show Track is selected on the Show page of the Posplot view control
407281/B 11
dialog box). The track definition for the Current track is held in the Processing
Unit.
Current waypoint
The waypoint at the end of the present leg in the traversing direction.
Leg
The line between two waypoints.
Leg type
The strategy for the path between two consecutive waypoints. The path either
follows the Rhumbline, the Great circle or a UTM straight line.
Moving leg
A dynamically updated track leg where one waypoint is fixed and the other
waypoint is moving with the mouse pointer. A moving leg (or moving legs) is used
when defining or moving a track waypoint.
Original track
A track definition without any offset applied.
Original waypoint
A waypoint without any waypoint offset.
Present leg
The definition of present leg varies depending on the waypoint speed strategy
you have selected.
When the waypoint speed strategy is Slow down at waypoint, then the present leg
is the leg between the previous waypoint (Previous WPT) and the current waypoint
(Current WPT).
When the waypoint speed strategy is Constant Speed, the vessel moves along arcs
with a defined turn radius. The present leg then starts at the Start Turn Point (STP)
of the previous waypoint and ends at the Start Turn Point of the current waypoint.
12 407281/B
System overview
STP
Start Turn Point. The point on a track where a straight line ends and a curve
(usually a circle) begins. See also WOP.
Touch down
The distance from the selected vessel rotation centre to a virtual point behind
the vessel.
Touch down point
The point defined by the touch down.
Track
A sailing route defined by two or more waypoints.
Track update
Modification of track data. This includes (but is not limited to) modification of
waypoint coordinates or attributes and applying track offsets.
Waypoint (WPT)
A defined position or reference point on a track, together with its associated data.
Waypoint offset
A relative distance and true direction defining an alternative waypoint to be used
temporarily instead of the original waypoint.
Waypoint table
A set of waypoints with their parameters, shown in tabular form, which defines the
track the vessel is to follow.
Wheel-Over Line
The perpendicular to the present leg, through the Wheel-Over Point.
Wheel-Over Point (WOP)
The point on a track where the execution of a turn begins, see also STP. WOP is
the intersection between the Wheel-Over-Line and the track leg.
407281/B 13
Defining a track
Topics
Waypoint table management, page 15
The waypoints, which describe the required track, are stored in a waypoint table. The following
functions are available for managing the waypoint table.
Defining tracks using the graphic track editor, page 16
You can define and modify tracks directly in the Posplot view using the cursor and the Waypoint
dialog box.
Defining tracks in the Auto Track editor, page 19
Using the waypoint table editor provided by the AutoTrack editor dialog box, you can manually
insert and modify all the information that is required in a waypoint table.
Receiving waypoints from external computer, page 22
The K-Pos system may receive predefined track definitions from an external computer system.
External waypoint data in NMEA format can be received to create a new table, to add waypoints to
an existing table from the same source, or to replace waypoints in an existing table.
Saving a track to a file, page 24
The K-Pos system can be configured with the option to save tracks as files.
14 407281/B
Defining a track
Waypoint table management

The waypoints, which describe the required track, are stored in a waypoint table. The
following functions are available for managing the waypoint table.
• Defining a track using the Graphic Track Editor (on-screen track definition)
Graphic track-editing is performed in the Posplot view using the trackball. A
Waypoint dialog box provides the operator with direct confirmation of the track data
being established. A previously defined track may be modified by moving, inserting
and deleting waypoints, and the turn radius at each waypoint can be adjusted.
Please note that the leg type defined as Default leg type in the Auto Track settings
dialog box will be used when defining an on-screen track. To change leg type, enter
the Auto Track settings dialog box again and select another leg type as default.
• Defining a track using the AutoTrack editor dialog box.
The operator can manually edit the waypoint table. This includes the coordinates for
the waypoint, with related turn radius, the vessel heading and speed setpoint for each
track leg, and the leg type. The leg type can be either rhumb line, great circle or UTM
straight line. Waypoints can be inserted, modified and deleted.
• Waypoints from external computer
The K-Pos system may receive predefined track definitions from an external computer
system. External waypoint data in NMEA format can be received to create a new
table, to append waypoints to an existing table from the same source, or to replace
waypoints in an existing table. Note that this function requires an interface to an
external computer system.
• Waypoints to external computer
The K-Pos system may transmit waypoint in NMEA format to an external computer.
Note that this function requires an interface to an external computer system.
• Waypoints from/to Disk
The operator can open, delete and save track files containing a waypoint table.
Related topics
AutoTrack editor dialog box, page 55
AutoTrack settings dialog box, page 64
Waypoint dialog box, page 100
407281/B 15
Defining tracks using the graphic track editor

You can define and modify tracks directly in the Posplot view using the cursor and
the Waypoint dialog box.
Context
The graphic track-editing functions work on a copy of the current track, and the current
track is first set or modified when you click Apply or exit graphic track-editing session by
clicking OK in the Waypoint dialog box. Note that the track is not saved permanently.
If you want to save it to a file, open the AutoTrack editor dialog box while the track is
still in the Posplot view and save it from there.
Related topics
Saving a track to a file, page 24
Defining a new track

Procedure
1 Click Settings→(Track) New .
The Waypoint dialog box is displayed, and the cursor changes from an arrow to a
pointing hand.
2 Define the first waypoint by moving the cursor on the Posplot view to the desired
position (the position is numerically displayed in the Waypoint dialog box) and
click.
3 Define another waypoint by moving the cursor again. The leg is displayed on the
Posplot view.
The waypoints are given consecutive numbers, which are displayed on the Posplot
view and in the Waypoint dialog box, in ascending order.
16 407281/B
Defining a track
4 When you have moved the cursor to the position of the last waypoint; double-click
to end the definition of new waypoints.
The three editing modes Move, Insert new and Delete become available.
5 Modify (edit) the track as appropriate.
6 Click Apply or OK.
Related topics
Moving a waypoint
Context
When Move is selected, you can move all points (i.e. the waypoints) which can be
made selectable (hotspots). However, if the system is in Auto Track mode, and the
track update strategy has been set to Not in Auto Track Mode and On remaining track on
the AutoTrack Update Strategy dialog box, there will be some waypoints on the track
which you cannot move.
Procedure
1 With a track displayed on the Posplot view, click Settings→(Track) Modify.
The Waypoint dialog box is displayed.
2 Select the Move option button.
3 Using the cursor, point to the waypoint you want to move.
When the cursor is close to a waypoint, it changes from an arrow to a pointing hand
with the text Move waypoint shown adjacent to it.
4 Click the waypoint.
The cursor changes again to a hand holding the waypoint connected to a rubber
band model between its fingers.
5 Drag the waypoint to the correct position using the cursor and click once to confirm.
Related topics
AutoTrack update strategy dialog box, page 85
407281/B 17
Inserting a new waypoint

Context
You can insert new waypoints:
• At the beginning of a track.
• Between two waypoints.
• At the end of a track.
Procedure
2 Select the Insert new option button.
3 Using the cursor, click the leg on which you wish to insert a new waypoint.
with the text Insert waypoint shown adjacent to it.
A rubber band model of the track appears.
To insert new waypoints on legs with Leg type Great Circle or UTM Straight Line,
you must click a point on the leg close to one of its waypoints.
4 Drag the new waypoint to the correct position and click again to confirm.
5 If you want to insert a waypoint at the beginning of the track, select the first
waypoint, and then click and move the cursor as described in step 3.
The displayed leg length is the distance between the new waypoint and the previous
first waypoint.
6 If you want to insert a waypoint at the end of the track, select the last waypoint, and
then click and move the cursor as described in step 3.
The displayed leg length is the distance between the new waypoint and the previous
last waypoint.
Related topics
Deleting a waypoint
Procedure
18 407281/B
Defining a track
2 Select the Delete option button.

3 Click the waypoint that you want to delete.
with the text Delete waypoint shown adjacent to it.
Related topics
Defining tracks in the Auto Track editor

Using the waypoint table editor provided by the AutoTrack editor dialog box, you can
manually insert and modify all the information that is required in a waypoint table.
Entering waypoints manually

Procedure
1 Click Settings→(Track) Editor.
The AutoTrack editor dialog box is displayed empty, i.e. with all entries in the
waypoint table greyed out.
2 Start creating the first waypoint by clicking Insert. The Northing and Easting text
boxes become available. You can now enter the coordinates for the first waypoint.
3 Click Insert again. This adds waypoint number 2. Initially this waypoint has the
same coordinates as waypoint number 1.
4 Enter the coordinates for the second waypoint and click Apply. The Distance and
Course for the first leg is now calculated and displayed. Leg type, Heading, Speed
and Turn radius are displayed with their default values. You can change these
values if necessary.
5 Continue adding waypoints, by clicking Insert, to complete the waypoint table. A
Confirm Insert Waypoint dialog box is displayed. To confirm insertion of a new
waypoint, click Yes in this dialog box. Each new waypoint has the coordinates
(Northing and Easting) of the previous waypoint and the default values for Leg
type, Heading, Speed and Turn radius. Perform the necessary adjustments for each
new waypoint.
6 Assign a track name to the new track you have created by entering a name in the
Track name text box. Click Apply.
407281/B 19
Note
When assigning the current track a name, you are not saving the current waypoint
table data in a file.
7 Click Save to save the current track.
Related topics
Inserting waypoints in a table

Prerequisites
Ensure that the correct waypoint table is displayed in the AutoTrack editor dialog box.
Procedure
1 Highlight the number of the waypoint after which you wish to insert a new waypoint.
2 Click Insert to open the Confirm insert waypoint dialog box.
3 Click Yes in this dialog box.
The highlighted waypoint is duplicated.
4 Change the coordinates of the new waypoint as required.
5 If required, continue inserting waypoints by repeating steps 1 to 5 of this procedure.
6 When you have finished inserting waypoints, click Apply.
The waypoints are added to the waypoint table.
7 If required, assign a new track name to the current track by typing in a name in the
Track name text box and clicking Apply.
Note
8 To save the current track, click Save. To keep both the new and the previous track,
assign a new file name to the new track.
Related topics
20 407281/B
Defining a track
Deleting waypoints from a table

Prerequisites
Procedure
1 Highlight the waypoint number of the waypoint you wish to delete.
2 Click Delete in the bottom left corner to open the Confirm delete waypoint dialog box.
3 Click Yes in this dialog box.
4 If required, continue deleting waypoints by repeating steps 1 to 3 of this procedure.
5 When you have finished deleting waypoints, click Apply.
The waypoints are deleted from the waypoint table.
6 If required, assign a new track name to the current track by typing in a name in the
Track name text box and clicking Apply.
Note
7 To save the current track, click Save. To keep both the new and the previous track,
assign a new file name to the new track.
Related topics
Deleting a waypoint table

Prerequisites
Procedure
1 Click the Delete button in the top centre.
All waypoints are cleared from the dialog box.
2 Click the Apply button.
The waypoint table is deleted. If the track is saved as a file at the operator station,
the file itself is not deleted.
Related topics
407281/B 21
Receiving waypoints from external computer

The K-Pos system may receive predefined track definitions from an external computer
system. External waypoint data in NMEA format can be received to create a new table,
to add waypoints to an existing table from the same source, or to replace waypoints
in an existing table.
Prerequisites
This function requires an interface to an external computer system.
If you try to load more than 1000 waypoints from an external source, or the total number
of old and newly received waypoints is larger than 1000, the received waypoints that
exceed 1000 will be rejected.
Context
The K-Pos system will accept external waypoint data that is sent with or without
waypoint numbers. However, if waypoint numbers are included in the data, and more
than one waypoint is sent, then the waypoint numbers must be sequential.
The waypoint numbers in the waypoint table must always be sequential. For example,
it is not possible to add waypoint number 7 to a table that contains only waypoint
numbers 1 to 5.
When the received waypoint data include waypoint numbers, the received waypoint
numbers are used. The waypoints are then stored in the waypoint table according to the
received waypoint numbers, possibly replacing existing waypoints.
The following waypoint and route formats are supported:
• RTE
• WPL
• WPL Atlas
• PRTNW, H
• PRTNW, W
The K-Pos system handles working routes and complete routes (relevant only for WPL
and WPL Atlas). A complete route replaces an existing track in the waypoint table. A
working route replaces only overlapping waypoints (all other waypoints are added to
the existing track).
These principles are valid in all cases, whether creating a new table, adding waypoints to
a table or replacing waypoints in a table.
22 407281/B
Defining a track
Receiving a new waypoint table

Procedure
1 Click Settings→(Track) Editor to open an empty table.
2 Click Settings→(Mode) Auto track and select the Receive tab of the AutoTrack
settings.
3 Select the source from which the waypoint will be received.
4 Select the check box Accept “0” as first waypoint ID, if the waypoint table from the
external source starts from 0.
After the new waypoint table is received the first waypoint will be renumbered
to ID 1.
5 Click Enable reception to enable the reception of waypoint data and click OK
or Apply.
When the waypoint data is received by the K-Pos system, a message is displayed.
For example:
NMEA waypoint table received from <source>
6 In the AutoTrack editor dialog box, check that the required waypoints have been
received correctly.
Related topics
Adding waypoints to an existing table

If waypoint numbers are not to be ignored, the received waypoints are stored in the table
according to the waypoint numbers received. Any existing waypoints are replaced.
The range of the received waypoint numbers must overlap with, or be attached to, the
waypoint numbers in the existing table.
If, for example, the existing waypoints are numbered 1 to 20, the number of the first
received waypoint must be between 1 and 20. If it is 21 or higher, the new set of
waypoints will be rejected (reception not accepted).
If the received waypoint numbers are to be ignored, the waypoint number of the first
waypoint must be specified.
If the received waypoints do not include waypoint numbers, and waypoint numbers are
not specified to be ignored, the received waypoints are interpreted as being numbered
1, 2, 3, and so on.
If the total number of existing and newly received waypoints is larger than 1000, the
received waypoints that exceed 1000 will be rejected.
407281/B 23
Saving a track to a file

The K-Pos system can be configured with the option to save tracks as files.
Prerequisites
The configuration of your K-Pos system determines whether or not you have this option
on your vessel.
Context
The track can be created and edited in different ways, but in order to be able to save it to
a file it must be viewed in the AutoTrack editor dialog box.
Procedure
1 Click Settings→(Track) Editor. Ensure that the track you want to save is viewed.
2 Click Save in the File group box (bottom right).
The Save settings dialog box is displayed.
3 If you want to save a new track, click New... and enter a name for the current track.
4 If you want to update an existing track, select the name from the list.
5 Click OK.
The file is saved locally at the operator station.
24 407281/B
Topics
Preparing for Auto Track operation, page 26
Approaching the track, page 27
Recommended start position, page 28
Safe start sector, page 29
Handling position information, page 29
407281/B 25
Preparing for Auto Track operation

Procedure
1 Ensure that sufficient thrusters for this operation are enabled.
Necessary sensors and reference systems:
2 Ensure that at least two gyrocompasses are enabled.
If this requirement is not met, the following message is shown:
Heading monitor requires 2nd source
3 Ensure that the required wind sensors are enabled.
4 Ensure that the required VRSes are enabled.
5 Ensure that at least one speed sensor is enabled. (Applies for high speed operations.)
If this requirement is not met, the following message is shown:
Speed sensor dropout
6 Ensure that the system is prepared for manual input of speed. (Applies for high
speed operations.)
The Enable - Manual check box is selected in the Sensors dialog box - Speed page
7 Ensure that the required position-reference systems are enabled.
Recommended system settings:
8 Use the Steering dialog box to set the required steering parameters:
• Rudder limits
• Steering group and steering mode
• Gain level
• Wind compensation
9 Use the Alarm limits dialog box — Position page to set warning and alarm limits for
cross-track deviation.
10 Ensure that the waypoint table you are going to use is correct by opening the Auto
Track Editor dialog box and checking the waypoint table.
11 Use the AutoTrack settings dialog box to set the required options and operating
parameters for the Auto Track mode. In particular, ensure that you select the required
Next waypoint, Tracking mode and Track direction (for low-speed and high-speed
tracking modes) on the General page of the AutoTrack settings dialog box.
Related topics
Steering dialog box, page 87
26 407281/B
Approaching the track

If this function is configured, you can define the way how to approach the track and
define the starting point directly in the Posplot view.
Prerequisites
A track must be created and selected, and shown on the Posplot view.
Procedure
1 Either press the TRACK SETUP button on the panel or click Settings→(Modes) Auto
track.
2 In the Auto Track settings dialog box click the Select approach pointcheck box and
select either Track leg or Waypoint, as required.
The AUTO TRACK button starts to flash and the Appr. Track dialog box is opened.
3 Click the position setpoint symbol in the Posplot view.

The setpoint symbol moves on the display and the position coordinates are updated
dynamically in the Appr. Track dialog box
5 Click again to fix the setpoint symbol at the required position.
The system will calculate the most favourable approach track. A temporary
position setpoint symbol and approach track is shown at the new position and the
coordinates, distance and both true and relative direction from the present position
setpoint are shown in the Appr. Track dialog box.
6 Click OK to accept the new position setpoint. The AUTO TRACK button becomes
steadily lit and the approach track changes colour to brown — the same as the
track colour.
407281/B 27
Recommended start position

Ensure that the vessel is positioned a reasonable distance from the Next waypoint (as
selected in the General page of the AutoTrack settings dialog box) when entering Auto
Track mode. If the vessel is closer than a pre-configured distance (usually the vessel
length) to the selected next waypoint when entering Auto Track mode, then the next
waypoint number is increased by 1. For example, if you have selected WPT6 as the next
waypoint, the value will be changed, and the vessel will move towards WPT7.
If you select Track leg (rather than Waypoint) as Approach track strategy, ensure that the
vessel is “past” the previous waypoint before entering Auto Track mode.
In the example , WPT7 is chosen as the Next waypoint and Track leg is chosen as the
Approach track strategy. In this situation you might expect the vessel to approach the
track leg between WPT6 and WPT7. However, the vessel's start position is not “past”
WPT6 (as defined by a perpendicular from the leg WPT6 to WPT7 drawn from WPT6).
In this situation, the next waypoint is changed automatically to WPT6 and the vessel will
approach the track leg WPT5 to WPT6.
If you select Track leg (rather than Waypoint) as Approach track strategy, ensure that the
vessel is not “past” the required next waypoint before entering Auto Track mode.
When entering Auto Track mode, if the vessel is “past” the selected next waypoint
(and the vessel heading is within the operator-specified heading deviation limit when
starting track), then the vessel will move towards the next waypoint although Track
leg is selected as Approach track strategy.
In the example, WPT5 is selected as the Next waypoint and Track leg is chosen as the
Approach track strategy. In this situation you might expect the vessel to approach the
track leg between WPT5 and WPT6. However, the vessel will move towards WPT5
(Auto Track state will be “Approach first WPT” rather than “Approach track”).
28 407281/B
Related topics
Safe start sector

Before starting Auto Track in high-speed or low-speed tracking mode, you must ensure
that the selected Next waypoint (as entered in the AutoTrack settings dialog box General
page) lies within a “safe start sector” 25 degrees either side of the present vessel heading.
If this is not the case, then the system will not enter Auto Track mode, the previous
mode will be automatically reactivated and an error message will be shown in the Event
List view:
Waypoint outside start sector
In the event of the wrong start waypoint being selected, this feature can prevent a large
unexpected turn when entering Auto Track mode.
Related topics
Handling position information

The following dialog boxes are used to set up the required conditions for the handling
and conversion of position information from the position-reference systems and to and
from the display.
• The Position presentation dialog box can be used to select the datum and coordinate
system for display of position information.
• The Reference system properties dialog box can be used to provide information about
the input position data from each reference system.
The following characteristics can be specified:
407281/B 29
– Input datum.
– Offset of antenna or sensor head from the vessel's centre of gravity.
– Update period and accuracy.
Certain position-reference systems provide a UTM position without the required
format information which must then be entered by the operator.
• The Receive page of the Auto Track settings dialog box can be used to provide
information about input waypoint data (from an external track source) for use in the
Auto Track mode.
30 407281/B
Dialog boxes for handling position information:
Related topics
407281/B 31
Topics
Running Auto Track low-speed mode, page 33
In the low-speed tracking mode, all the available thrusters are used to provide full position and
heading control, and the speed along the track is controlled automatically and very accurately.
Running Auto Track high-speed mode, page 35
The high-speed tracking mode, the vessel heading is controlled continuously to minimise the
cross-track error and the vessel follows the track at any vessel speed above approximately 4 knots.
Running Auto Track move-up mode, page 37
Always display the AutoTrack move-up dialog box during move-up operations. There are some
operational limitations and deviations when running the vessel in move-up tracking mode
compared to running the vessel in low-speed or high-speed tracking mode.
Resuming Auto Track mode, page 43
When leaving Auto Track mode during a track operation, the current vessel position on the track
is saved as a track resume point. You can use this position as a starting point when you return
to Auto Track mode.
Using emergency stop, page 44
The Emergency Stop function uses a special velocity controller in surge to decelerate the vessel
from high speed to low speed. At low speed Emergency Stop works as the normal Stop On Track.
Emergency Stop along the track can be activated by the operator, or by an external system that
is interfaced to the K-Pos system.
32 407281/B
Running Auto Track low-speed mode

In the low-speed tracking mode, all the available thrusters are used to provide full
position and heading control, and the speed along the track is controlled automatically
and very accurately.
Procedure
1 Manoeuvre the vessel to a reasonable distance from the first waypoint. For
low-speed tracking mode, it is recommended to use Joystick or Auto Position mode.
2 Press the AUTO TRACK button group twice.
• The AUTO TRACK button becomes lit.
• The position setpoint is set to the selected start waypoint, i.e. the Next waypoint
entered in the AutoTrack settings dialog box General page.
• The heading setpoint is set according to the selections made in the AutoTrack
settings dialog box Heading page.
The vessel begins to approach the track maintaining the present heading. The
heading can change depending on the selection in Heading page.
3 When reaching the start waypoint, the vessel follows the track defined in the
waypoint table.
4 According to operator selection, the vessel stops at the last waypoint or continues
to a locally generated waypoint 10 000 meters away from the last waypoint on the
extension of the last leg.
Result
The K-Pos system remains in Auto Track mode until changed to another mode.
Related topics
Joystick heading control

In the low-speed tracking mode, you can deselect the yaw axis for automatic heading
control and instead use the joystick to control the vessel heading manually.
Procedure
The YAW button becomes unlit.
2 Control the vessel's heading manually using the joystick.
3 To return to automatic heading control, press the YAW button twice within four
seconds again.
407281/B 33
The YAW button becomes lit.

The heading setpoint is set to the present heading.
Joystick speed control

In the low-speed tracking mode, when using system selected heading setpoint Towards
Waypoint, you can deselect the surge axis for automatic control and use the joystick to
control the thrust and thereby the vessel speed in the alongships direction.
Procedure
1 Press the SURGE button twice within four seconds.
The SURGE button becomes unlit.
2 Control the vessel's speed manually using the joystick.
3 To return to automatic speed control, press the SURGE button twice within four
seconds again.
The SURGE button becomes lit.
Changing track direction

The result of selecting Forward or Reverse direction depends on whether or not the
system is already in Auto Track mode.
Context
Before entering the Auto Track mode:
• Selecting Forward means that the waypoints are to be followed in ascending order of
waypoint number, beginning with the selected Next waypoint.
• Selecting Reverse means that the waypoints are to be followed in descending order of
When already in low-speed tracking mode:
• When following the track in ascending order of waypoint number, selecting Reverse
causes the vessel to stop on the track. When you then deselect the STOP button (by
pressing the button twice), the vessel moves along the track in descending order of
waypoint numbers.
• When following the track in descending order of waypoint number, selecting Forward
causes the vessel to stop on the track. When you then deselect the STOP button (by
pressing the button twice), the vessel continues along the track in ascending order of
waypoint numbers.
Procedure
1 Click Settings→(Mode) AutoTrack or press the TRACK SETUP button to open the
AutoTrack settings dialog box.
34 407281/B
2 Select the General page of the dialog box.

3 Change the Track direction setting (Forward or Reverse) to change the direction
in which the vessel follows the track.
5 To continue on the track in the opposite direction, deselect the STOP button (by
pressing it twice within four seconds). The STOP button becomes unlit and the
vessel begins to follow the track in the opposite direction.
Related topics
Running Auto Track high-speed mode

The high-speed tracking mode, the vessel heading is controlled continuously to minimise
the cross-track error and the vessel follows the track at any vessel speed above
approximately 4 knots.
Procedure
1 Manoeuvre the vessel to a reasonable distance from the first waypoint.
3 When reaching the start waypoint, the vessel follows the track defined in the
waypoint table.
4 When the vessel reaches the last waypoint, it continues at the same speed on the
extension of the final track leg.
Related topics
407281/B 35
Joystick speed control

In the high-speed tracking mode, you can deselect the surge axis for automatic control
and use the joystick to control the thrust and thereby the vessel speed in the alongships
direction.
Procedure
1 Press the SURGE button twice within four seconds.
The SURGE button becomes unlit.
2 Control the vessel's speed manually using the joystick.
3 To return to automatic speed control, press the SURGE button twice within four
seconds again.
The SURGE button becomes lit.
Changing track direction

The result of selecting Forward or Reverse direction depends on whether or not the
system is already in Auto Track mode.
Context
Before entering the Auto Track mode:
• Selecting Forward means that the waypoints are to be followed in ascending order of
• Selecting Reverse means that the waypoints are to be followed in descending order of
When already in high-speed tracking mode:
• When following the track in ascending order of waypoint number, selecting Reverse
causes the vessel either to stop on the track in preparation for reversing direction or to
turn through 180 degrees, as selected by Reverse action.
• When following the track in descending order of waypoint number, selecting Forward
causes the vessel either to stop on the track in preparation for reversing direction or to
turn through 180 degrees, as selected by Reverse action.
Procedure
1 Click Settings→(Mode) AutoTrack or press the TRACK SETUP button to open the
2 Select the General page of the dialog box.
3 Change the Track direction setting (Forward or Reverse) to change the direction
in which the vessel follows the track.
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5 To continue on the track in the opposite direction, deselect the STOP button (by
pressing it twice within four seconds). The STOP button becomes unlit and the
vessel begins to follow the track in the opposite direction.
Result
The way in which the vessel changes track direction depends on the Reverse action
setting (Go astern or Turn 180 °) on the Stop page of the AutoTrack settings dialog box.
If you have selected Go Astern:
• The STOP button becomes lit. The vessel slows down and stops, and then either stays
at this position or goes back to the position it had when you requested the change of
direction (depending on the selected Stop on track strategy on the AutoTrack settings
dialog box).
If you have selected Turn 180°:
• The vessel performs a 180 degree turn either to port or to starboard (depending on the
Turn direction setting on the Stop page of the AutoTrack settings dialog box).
Related topics
Running Auto Track move-up mode

Always display the AutoTrack move-up dialog box during move-up operations. There
are some operational limitations and deviations when running the vessel in move-up
tracking mode compared to running the vessel in low-speed or high-speed tracking mode.
Procedure
1 Use Joystick or Auto Position mode to position the vessel accurately on the track,
close to or exactly on the start position for the first move-up operation.
3 Click Settings→(Modes) AutoTrack to display the AutoTrack settings dialog box.
4 Click Move-up Tracking mode on the General page of the dialog box.
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Note
You can also select Move-up Tracking mode before entering the Auto Track mode.
If the vessel is not on track when entering move-up tracking mode, the vessel will
approach the Track Leg or Next waypoint depending on the approach strategy you
have selected on the General page of the AutoTrack settings dialog box.
The vessel is moving towards Waypoint 3(Next Waypoint) because Auto Track
(move-up) mode has been initiated before the vessel is On Track, and Waypoint is
selected as Approach Track strategy. A dotted line shows the way the vessel will
follow passing waypoint 3:
5 Click Settings→(Track) Move-up.

6 In the Auto Track move-up dialog box adjust the increment until the Distance
correction text box shows the required move-up distance.
7 Click Apply to start the move-up operation.
The vessel starts moving using the selected auto track and move-up settings.
Monitor the progress of the move-up in the Progress text boxes.
8 The vessel stops on track when the move-up operation is complete. You should be
aware of that even though the vessel stops on track, the STOP button is not lit.
You are now ready to start the next move-up operation.
Result
The K-Pos system remains in Auto Track mode until changed to another mode.
Related topics
AutoTrack move-up dialog box, page 58
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Joystick heading control

In the move-up tracking mode, you can deselect the yaw axis for automatic control and
use the joystick to control the vessel heading.
Procedure
The YAW button becomes unlit.
2 Control the vessel's heading manually using the joystick.
3 To return to automatic heading control, press the YAW button twice within four
seconds again.
The YAW button becomes lit.
The heading setpoint is set to the present heading.
Limitations in move-up tracking mode

The following limitations apply if you enable Stop at last waypoint on the Stop page of
the AutoTrack settings dialog box when running the vessel in move-up tracking mode:
• If you try to start a forward move-up operation when the Auto Track state is “At last
WPT”, the vessel will not move. To move forward, clear the Stop at last waypoint
check box before you start the forward move-up operation.
• If you start a backwards move-up operation when the Auto Track state is “At last
WPT”, the vessel will move backwards and the Auto Track state will change to
“Approach Last”.
407281/B 39
It is not possible to select Move-up Tracking mode if Next Waypoint is set to 0 on the
General page of the AutoTrack settings dialog box (0 is the track resume point). This
ensures that the vessel is back on track after having been moved away from the track
before move-up operations can be resumed.
Example of AutoTrack settings dialog box - the selection of Move-up Tracking mode is
disabled when Track resume point is 0:
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When running in move-up tracking mode, with Waypoint table selected as Along speed
setpoint on the Speed page of the AutoTrack settings dialog box, the Speed setpoint in
the AutoTrack move-up dialog box cannot be changed. The Speed setpoint text box is
marked as unavailable.
Example of AutoTrack settings dialog box - selected as Along speed setpoint. In the
AutoTrack move-up dialog box you are not allowed to change the speed setpoint and the
text box is marked as unavailable:
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When running in low-speed or high-speed tracking mode with Towards waypoint selected
as Heading setpoint (on the Heading page of the AutoTrack settings dialog box), and then
entering move-up tracking mode, System selected Heading setpoint will automatically be
set to Along arc. With Along arc now as system selected heading setpoint, you can also
select to specify a crab angle in the Crab angle text box.
Example of Tracking mode Move-up selected and system selected heading setpoint is
automatically changed to Along Arc:
When moving the vessel backwards in move-up tracking mode with Slow down at
waypoint selected as Waypoint speed strategy, the vessel will continue along the extension
of the present leg, passing the waypoint at constant speed and then stop when the applied
backward move-up distance has been reached.
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A deviation between the carrot (shown as a orange dot on the Posplot view) and the
vessel of more than a preset value (usually 10 m) will cause incorrect values in the
Progress text boxes on the AutoTrack move-up dialog box. The vessel will not move the
requested distance before it stops.
This could occur, for example, if the vessel is unable to follow a sharp turn.
In the example, the carrot (orange dot) follows the track. The vessel has failed to make
a sharp turn and is outside the track. There is a deviation between the actual travelled
distance and the distance recorded by the system:
Resuming Auto Track mode

When leaving Auto Track mode during a track operation, the current vessel position on
the track is saved as a track resume point. You can use this position as a starting point
when you return to Auto Track mode.
Prerequisites
This function is only available if you have been running Auto Track mode, stopped along
the track, used another mode and then returned to Auto Track mode.
The track resume point is cleared if a new track is defined, if a track is deleted or if
the vessel enters Standby mode.
The track resume point is moved with the track when a geographic offset is applied.
The resume point is deleted when track offset is reset.
You are not allowed to enter move-up tracking mode when you have selected 0 (the track
resume point) as the start waypoint for move-up operations.
Procedure
1 Press the TRACK SETUP button to open the AutoTrack settings dialog box.
2 Select the General tab.
If it is possible to select a track resume point, the text 0: Track resume point is
displayed under Next waypoint.
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3 Select 0 as the next waypoint and click Apply or OK.

When approaching the track resume point in Auto Track mode, the heading setpoint
is determined by the direction of the track leg on which the present track resume
point is positioned and the Track direction selected on the General page of the
Related topics
AutoTrack settings dialog box - General page, page 65
Using emergency stop

The Emergency Stop function uses a special velocity controller in surge to decelerate the
vessel from high speed to low speed. At low speed Emergency Stop works as the normal
Stop On Track. Emergency Stop along the track can be activated by the operator, or by
an external system that is interfaced to the K-Pos system.
Context
When automatic stop is activated, the EMERG. STOP button status lamp becomes lit and
an alarm message is displayed in the Event List view, for example:
Track Stop activated by system <Reason for activation>
Procedure
The operator can activate the function manually.
1 Press the EMERG. STOP button twice within four seconds.
The EMERG. STOP button becomes lit.
The alarm message Track Stop activated by operator is shown.
2 The vessel slows down and stops, and then stays at this position.
3 To continue along the track, press the EMERG. STOP button twice within four
seconds again. The EMERG. STOP button status lamp becomes unlit and the vessel
starts moving.
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Topics
Adjusting the turn radius, page 46
The turn radius is limited by the length of the shortest leg attached to the waypoint, together
with the turn angle. The turn radius will automatically be reduced if you specify a turn radius
that is too large.
Changing the crab angle, page 47
During operation in low-speed and move-up tracking modes you can change the crab angle
using the heading wheel and its HEADING buttons. If configured for your system it can be done
also during high-speed operations.
Offsetting the track, page 47
The operator can offset a track defined in a waypoint table.
Offsetting a leg on the track, page 48
The leg offset value you enter is the distance in meters perpendicular to the track.
407281/B 45
Adjusting the turn radius

The turn radius is limited by the length of the shortest leg attached to the waypoint,
together with the turn angle. The turn radius will automatically be reduced if you specify
a turn radius that is too large.
Prerequisites
In the Auto Track settings dialog box — Turn page the alternative Waypoint table must be
selected.
Procedure
1 Click Settings→(Track) Modify.
2 Select the Move option button.
3 Click the required waypoint arc.
When you move the cursor towards a waypoint arc, the cursor changes from an
arrow to a pointing hand.
A rubber band model of the waypoint arc appears.
4 To increase the turn radius, drag the cursor away from the waypoint and click. To
decrease the turn radius, drag the cursor closer to the waypoint and click.
Related topics
46 407281/B
Changing the crab angle

During operation in low-speed and move-up tracking modes you can change the crab
angle using the heading wheel and its HEADING buttons. If configured for your system it
can be done also during high-speed operations.
Prerequisites
The crab angle can only be changed if the Heading Setpoint in the Auto Track Settings
dialog box is set to Towards Waypoint or Along Arc.
Procedure
1 On the heading wheel press the ACTIVATE button once (top middle button).
The Crab Angle dialog box is displayed.
2 Rotate the heading wheel clockwise or counter-clockwise to increase (to starboard)
or decrease (to port) the crab angle, or use the INCREASE and DECREASE buttons
(typically 0.1 degree for each press).
Related topics
Crab angle dialog box, page 86
Offsetting the track

The operator can offset a track defined in a waypoint table.
Prerequisites
The strategy for updating a track must be defined in the AutoTrack Update Strategy
dialog box before you can offset a track.
You must have reached the first waypoint before offsetting the track.
Context
The available offset strategies are:
• Parallel. The whole track is moved to left or right perpendicularly to the current
leg direction.
• Geographic. The whole track is moved a specified distance and in a specified
direction (relative to the north).
• Present Leg. The two waypoints, the one behind and the one ahead of the present
vessel position are moved perpendicularly to the direction of the present leg. The
length of the present leg will remain the same, but the length of the two adjacent
legs on the track will change.
407281/B 47
• No Offset. When the operator selects this offset strategy, the track will be restored
to its initial unedited definition.
Procedure
1 Click Settings→(Track) Update strategy to determine when and which part of the
track can be offset.
2 Click Settings→(Track) Offset to display the dialog box.
3 Select the offset strategy and then define the distance and the direction of the offset.
Related topics
AutoTrack offset dialog box, page 61
Offsetting a leg on the track

The leg offset value you enter is the distance in meters perpendicular to the track.
Prerequisites
You must have reached the first waypoint before offsetting a leg on the track.
Procedure
1 Press the TRACK SETUP button to open the AutoTrack settings dialog box.
2 Select the Speed tab.
3 Select the appropriate Waypoint speed strategy.
4 Select the General tab.
5 Select Leg offset and enter the value.
A positive leg offset will offset the vessel to the left of the original track, and a
negative leg offset will offset the vessel to the right of the original track, where
“left” and “right” are relative to direction of ascending waypoint numbers. The
selected track direction (forward/reverse) or the heading of the vessel has no
influence on the resulting leg offset.
Entering leg offset will reduce the radius of inner turns when waypoint speed
strategy is Constant speed. If the leg offset becomes too large compared to the
waypoint turn radius, the following message will be reported:
Waypoint leg offset warning
<WPT no.> <leg offset> <limit>
When the waypoint speed strategy is Slow down at waypoint, the message will
appear if the leg offset is larger than 1 meter.
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The above message will only be given when the vessel is running an “inner” turn
when passing a waypoint.
Result
When you use the Leg Offset function in move-up tracking mode, the Moved, Left and
Total Distance shown in the Progress group box of the AutoTrack move-up dialog box will
differ from the actual distance the vessel has travelled.
Example
Note
The offset track is not displayed in the Posplot view.
Related topics
407281/B 49
Dialog boxes
Topics
Use this page to set the position and heading warning and alarm limits including the limits for
cross-track error.
Approach track dialog box, page 54
Use this dialog box to define the approach track directly on the Posplot view.
The waypoints which describe the required track are stored in a waypoint table. This table can
contain up to 1000 waypoints.
AutoTrack move-up dialog box, page 58
Using this dialog box, you can monitor the progress of the present moved and remaining distance
and the total distance moved when the move-up is performed in more than one step. You can move
the vessel a specified distance forward or backward along the track and specify the speed setpoint
and acceleration factor for the vessel during a move-up operation.
AutoTrack offset dialog box, page 61
Use this dialog box to offset a track defined in a waypoint table. You can select between different
offset strategies and distance/direction to offset the track.
Use this dialog box to select features available in the low-speed, high-speed and move-up tracking
modes.
You can select the strategy to be in use when updating tracks (track editing and track offset
functionality) and when receiving a track from an external source. The selected update strategy
determines when and which waypoints can be edited, and whether or not a new track can be
received.
Crab angle dialog box, page 86
Use this dialog box to change the crab angle during tracking operations.
Steering dialog box, page 87
Use this dialog box to set up and configure the settings for the Auto Track mode.
50 407281/B
Dialog boxes

Use this dialog box is to define new tracks and modify existing tracks directly on the Posplot view.
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Alarm limits dialog box - Position page

Use this page to set the position and heading warning and alarm limits including the
limits for cross-track error.
How to open
Click Alarms→Position and heading.
Example
Details
Position
Warning and alarm limits can be set for position deviation. When the vessel's
actual position differs from the position setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual position differs from the
position setpoint by more than the alarm limit, an audible signal is given and an
When active, the position limits are shown as black circles — solid for alarm and
dashed for warning, in the Position Deviation pane. When inactive, the position
limits are shown as grey circles.
Note
In all modes, the position limits are inhibited until a requested change in position
is completed.
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Dialog boxes
Heading
Warning and alarm limits can be set for heading deviation. When the vessel's
actual heading differs from the heading setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual heading differs from the
heading setpoint by more than the alarm limit, an audible signal is given and an
The limits are active only when the yaw axis is under automatic control.
When active, the heading limits are shown as black lines — solid for alarm and
dashed for warning, in the Posplot view. When inactive, the heading limits are
shown as grey lines.
Note
In all modes, the heading limits are inhibited until a requested change in heading
is completed.
Cross track
Specify warning and alarm distances within which the vessel can move on either
side of the track.
When the vessel is in Auto Track mode and moves away from the track by more
than the warning limit, a warning message is given. When the vessel moves away
from the track by more than the alarm limit, an audible signal is given and an
These limits can be activated or changed at any time. However, the limits are
active only in Auto Track mode.
When applying track offset during Auto Track mode, and the offset causes the
vessel to be outside the cross-track limits, warnings/alarms will not be given. This
is because the Auto Track state is changed to Approach Track, in which cross-track
limits do not apply. This prevents excessive alarms. On the other hand, when
applying leg offset, and the offset causes the vessel to be outside the cross-track
limits, warnings/alarms will be given.
Warning/Alarm
Active
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Approach track dialog box

Use this dialog box to define the approach track directly on the Posplot view.
How to open
When a track is shown on the Posplot view and the check box Select approach point is
selected in the Auto Track settings dialog box:
Click the position setpoint symbol in the Posplot view.
Example
Description
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Dialog boxes
AutoTrack editor dialog box

The waypoints which describe the required track are stored in a waypoint table. This
table can contain up to 1000 waypoints.
Prerequisites
The selected track update strategy determines whether or not the waypoint table can be
edited while the system is in Auto Track mode.
How to open
Click Settings→(Track) Editor.
Example
Description
All the information that is required in the waypoint table can be manually entered and
modified. Waypoints can be loaded from an external source.
You can offset a track defined in a waypoint table using the AutoTrack Offset dialog
box. Here you can select between different offset strategies and distance/direction to
offset the track.
Details
Waypoints
The upper left cell shows the number of waypoints in the table. The table can
contain up to 1000 waypoints. The left column of the table contains the sequence
numbers of the waypoints.
407281/B 55
Insert
Click this button to add a new waypoint to the table. The new waypoint is
added after the highlighted waypoint, and initially it has the same parameters
as the highlighted waypoint.
Delete
Click this button to delete a waypoint from the table. Only the highlighted
waypoint is deleted.
Track
Name
The corresponding text box shows the name of the waypoint table. By
clicking the Name button, you can display a simulated keyboard which can
be used to change the name (maximum 25 characters) of the waypoint table
you are editing, or, if creating a new track, type in the name of this new track.
Delete
Deletes all the waypoints in the displayed table, i.e. the current track. This
function is useful when you are creating a new waypoint table by receiving
waypoints from an external source.
Datum
The datum you have currently selected for position presentation.

Northing/Easting
Shows the coordinates of each waypoint. You can edit them in the position
format and position datum currently selected for display of position
information.
Distance
The distance between each waypoint and the next waypoint (for information
only).
Course
The true direction from this waypoint to the next waypoint (for information
only).
Leg type
Select the required leg type from the drop-down list; either Rhumb line,
Great circle or UTM straight line. If you receive a track from an external
source, the leg type is set to the default leg type specified in the General page
of the AutoTrack settings dialog box. For short legs the difference between
Rhumb line, Great circle and UTM straight line is negligible.
Rhumbline
This is a path of constant compass heading. A rhumb line appears as a

straight line in Mercator's projection.
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Dialog boxes
Great circle
This is the shortest path between two points on the surface of the earth. A
great circle arc takes constant changes of compass heading and appears as a
curved line in Mercator's projection.
UTM straight line
This is a straight line in the UTM projection. A UTM straight line is a curved
line in the Mercator's projection and appears similarly to a great circle. UTM
straight line is typically used for a track defined by UTM coordinates.
Heading
The vessel heading setpoint for this track leg.
Speed
The vessel speed setpoint for this track leg.
Turn radius
The turn radius to use when passing the waypoint at constant speed.
File
Open
Opens the Open track file dialog box. This is a standard Windows dialog box
where you can select a track file (containing a waypoint table) to open.
Note
You can only select from track files stored locally on your operator station.
Save
Opens the Save track file as dialog box. This is a standard Windows dialog
box. This function is useful when you, for example, have edited an existing
track file and want to save it as a new additional file.
Note
Track files are saved locally on your operator station.
Delete
Opens the Delete track file dialog box. This is a standard Windows dialog box
where you can select a track file (containing a waypoint table) to delete.
Note
Track files are deleted locally on your operator station.
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AutoTrack move-up dialog box

Using this dialog box, you can monitor the progress of the present moved and remaining
distance and the total distance moved when the move-up is performed in more than
one step. You can move the vessel a specified distance forward or backward along
the track and specify the speed setpoint and acceleration factor for the vessel during a
move-up operation.
Prerequisites
The dialog box is only available when a track has been defined.
How to open
Click Settings→(Track) Move-up.
Example
Details
Distance moved
Shows the accumulated distance the vessel has moved along the track since you
started the first move-up operation. If you click the Reset button before you initiate
a new move-up operation, the contents of this text box is cleared. This implies that
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Dialog boxes
the next time you initiate a vessel move-up operation, the Distance moved text
box starts counting from zero again.
Distance left
Shows the distance remaining of the present move-up operation.

Distance total
Shows the accumulated total distance the vessel has moved along the track during
the move-ups you have initiated since you started the first move-up operation. If
you click Reset before you initiate a new move-up operation, this value is set to
zero and then shows the distance you specify for the next move-up. You cannot
use the Reset button if the vessel is already moving.
Note
Be aware of the following information concerning the display of progress values in
Auto Track (move-up) mode:
If you use the Leg offset function (refer to Leg offset in AutoTrack settings -
General page) when running the vessel in Auto Track (move-up) tracking mode,
the Moved, Left and Total distance shown in the Progress field will differ from the
actual distance the vessel has moved.
The sum of Moved and Left distance will not necessarily be equal to Total distance.
Small deviations (less than 1 m) may occur.
Distance correction
Contains the distance you want to move the vessel. Click the OK or Apply button,
and the position setpoint along the track is changed with the specified distance
correction and the value in the distance correction text box then resets to zero. You
can also apply a new distance correction during an ongoing move-up operation if
you want to adjust the distance to move.
Increase
Changes the value in the distance correction text box by the number shown. Adjust
the increment value by either entering the required value or clicking the up and
down arrows. Each click on the Astern or Ahead button changes the value in the
distance correction text box by the increment value shown.
Speed setpoint
The speed setpoint that will be used for move-up when you click the OK or Apply
button. You can adjust the speed setpoint by either entering the required value or
clicking the up and down arrows. The value specifies the maximum speed during
the move-up. The maximum speed may not be reached if the move-up distance
is too short or if the specified speed setpoint is too high. The speed setpoint used
for move-up is the same as the “along” speed setpoint selected (waypoint table or
operator) on the Speed page in the AutoTrack settings dialog box.
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Caution
If you have selected waypoint table as the along speed setpoint, this will be the
speed setpoint used for move-up. This speed setpoint will however not be shown
in the AutoTrack Move-up dialog box (the Speed setpoint text box is shown
shaded containing the previous operator-selected speed setpoint).
Acceleration factor
Deceleration factor
You can adjust the acceleration/deceleration factor by either entering the required
value or clicking the up and down arrows. The value specifies the fraction of the
available acceleration to be applied at start and finish of a move-up operation. If
you, for example, set the acceleration factor to 30, this means that 30% of the
currently available thrust will be used to accelerate the vessel.
If you define the values before starting a move-up operation, they will be used
for move-up when you click OK or Apply. You may define new values during
a move-up operation, but they will be used after the vessel has stopped at the
waypoint and starts the next move-up (although you have clicked Apply).
These two factors are also available in the Acceleration/Deceleration settings dialog
box.
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Dialog boxes
AutoTrack offset dialog box

Use this dialog box to offset a track defined in a waypoint table. You can select between
different offset strategies and distance/direction to offset the track.
Prerequisites
You must select appropriate update strategy from the AutoTrack update strategy dialog
box in order to be allowed to offset the track.
How to open
Click Settings→(Track) Offset.
Example
Description
The selected offset track replaces the original track. In order to retrieve the original
track, select No offset in the AutoTrack offset dialog box. Alternatively you can select
and read it from the AutoTrack editor dialog box (click File→Open in the AutoTrack
editor dialog box and select the file name for the original track). You can also edit the
existing waypoint table in the AutoTrack editor dialog box.
When applying a new track offset, the original track is shown as dashed dark-blue lines
on the Posplot view. The new offset track is shown as solid light-blue lines. You can
select to display or not to display the original and/or offset track on the Posplot view
from the Posplot view control dialog box.
Note
Each time an offset is applied, the offset is relative to the original track, not relative
to the offset track.
407281/B 61
Details
Parallel
The whole track is moved a distance to the left or right perpendicular to the present
leg direction. The resulting offset track is an exact, but displaced copy of the
original track. The direction of the parallel movement can be seen in the Direction:
text box of the AutoTrack offset dialog box. When you enter a positive value in the
Distance text box, this is interpreted as being an offset to the right when orientated
towards ascending WPT numbers along the track. A negative value results in an
offset to the left. The selected track direction (forward/reverse) or vessel heading
has no influence on the resulting track offset.
Geographic
The whole track is moved a specified distance in a specified direction (relative to

North). The resulting offset track is an exact, but displaced copy of the original
track.
Present leg
Only part of the track is offset. The two waypoints, the one behind and the one
ahead of the present vessel position, are moved perpendicular to the direction of
the present leg. The sign convention used is the same as for the Parallel offset
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Dialog boxes
strategy. The resulting offset track will obtain a new topography. The length of
the present leg will remain the same, but the length of the two adjacent legs on the
track will change. It is only possible to select Present leg as the new offset strategy
when the vessel is “On track”.
No offset
No offset is added. When you select this offset strategy, the track will be restored
to its original unedited definition, which will then be displayed on the Posplot
view (solid line in blue).
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AutoTrack settings dialog box

Use this dialog box to select features available in the low-speed, high-speed and move-up
tracking modes.
How to open
Either press the TRACK SETUP button on the panel or click Settings→(Modes) Auto track.
Related topics
AutoTrack settings dialog box - Heading page, page 72
AutoTrack settings dialog box - Receive page, page 83
AutoTrack settings dialog box - Speed page, page 77
AutoTrack settings dialog box - Stop page, page 69
AutoTrack settings dialog box - Turn page, page 81
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Dialog boxes
AutoTrack settings dialog box - General page

How to open
Example
Details
Next waypoint
Allows you to select the number of the waypoint at which to begin the track
operation.
Note
You must enter the required Next Waypoint before entering the Auto Track mode.
If configured, you can select a track resume point as the start waypoint (select 0
under Next waypoint).
When leaving Auto Track mode during a track operation, the current vessel
position on the track is saved as a track resume point. This resume point is shown
as a filled circle of fixed size on the Posplot view.
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Tracking Mode
If all three tracking modes are available on your vessel, you can select among
Move-up, Low speed or High speed operation.
For move-up, low-speed and high-speed operation, you can select the tracking
mode before entering the Auto Track mode and also change the tracking mode
during operation in Auto Track mode:
• When switching from low-speed or move-up to high-speed tracking mode, the
heading setpoint will be set to system selected and the waypoint speed strategy
will be set to constant speed.
Leg offset
Allows you to offset the path of the vessel to either side of the defined track. This
does not in any way change the track definition stored in the waypoint table.
A positive leg offset will offset the vessel to the left of the original track, and a
negative leg offset will offset the vessel to the right of the original track, where
“left” and “right” are relative to direction of ascending waypoint numbers. The
selected track direction (forward/reverse) or the heading of the vessel has no
influence on the resulting leg offset.
Note
The offset track is not shown on the Posplot view.
Leg offset is not available (i.e. appears dimmed) in Auto Track mode, Approach
frst WPT.
Track direction
Allows you to specify the direction in which the defined track is to be followed. The
result of selecting Forward or Reverse depends on the tracking mode (low-speed or
high-speed) and whether or not the system is already in Auto Track mode.
Note
If a move-up is performed, the Forward and Reverse option buttons become
unavailable.
The Stop check boxis always unavailable as its function is to act as a warning
indicator, i.e. selected - Stop active, or not selected - Stop inactive.
Touch down
The distance from the vessel's rotation centre to the pipe/cable touchdown point
can be specified. During a waypoint turn, the vessel track will be calculated so that
the pipe/cable touchdown point will be placed on the intended track.
Note
This applies only when cable is laid from the aft of the vessel.
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Approach track
Determines the strategy for approaching the track. The approach speed depends on
the along-speed setpoint and the across-speed setpoint.
Track leg
The vessel moves sideways towards the “present” track leg. If you choose
this option, you must make sure that the vessel is “past” the previous
waypoint when you enter Auto Track mode.
Note
When the vessel is far away from the selected start waypoint, or far away
from the track leg connected to the selected start waypoint, the system will
select Waypoint as strategy for approaching the track even if you have
selected Track leg.
Waypoint
The vessel moves on a straight line towards the start waypoint.
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Select approach point

Select the check box if you want to define the approach track manually on
the Posplot view.
Default leg type
Select the required leg type: either Rhumb line, Great circle or UTM straight line.
The default leg type is always applied when using the graphical track editor and
when receiving waypoints from an external source.
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Dialog boxes
AutoTrack settings dialog box - Stop page

How to open
Example
Details
Stop on track
Defines the strategy for stopping on the track either as a result of pressing the STOP
button twice or when changing the track direction.
Stay
The vessel slows down, stops and stays at this position.

Go Back
The vessel slows down, stops and goes back to the position it had when
you initiated the stop action.
Force
Defines the percentage of the maximum available force to be used for

stopping on the track. The value that you should choose depends on the
type of operation.
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Stop at last waypoint
In low-speed and move-up tracking modes, this option allows you to specify the
action to be taken when the vessel reaches the last waypoint, either to stop or
continue.
Active
When this check box is selected, the vessel will stop at the last waypoint.
When this check box is cleared, the vessel will, when it has passed the
last waypoint, continue with the same track direction as the last leg in the
waypoint table towards a locally generated waypoint. The position of this
waypoint is 10 000 meters away from the last waypoint, on the extension of
the last leg.
Position dropout action
Select the action to be taken in the event of the system losing acceptable position
reference information when running in the Auto Track mode:
Stop
The vessel stops.

Dead reckoning
The system continues calculating the position based on the last measurements
and calculations, and the vessel continues traversing the track using Dead
Reckoning.
Reverse Action
In high-speed tracking mode, this option allows you to specify the action that is to
be taken when the track direction is changed between Forward and Reverse.
Go Astern
Stop on the track in preparation for reversing direction, without changing

heading.
Turn 180°
Turn through 180 degrees.

In low-speed tracking mode, Go Astern is always used.
(CD3316)
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Turn Direction
When Turn 180° is selected, you can specify that a turn should be either to
Starboard or to Port.
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AutoTrack settings dialog box - Heading page

How to open
Example
Description
In low-speed and move-up tracking modes, you can also deselect auto heading control
using the YAW button, and use the joystick to control the vessel heading.
In high-speed tracking mode, the vessel heading setpoint is continuously updated to
return the vessel to the track if it should drift off track. If required, you can specify limits
for turning the rudders or azimuth thrusters when running in high-speed tracking mode.
Details
Heading setpoint
This feature applies only when running the vessel in low-speed and move-up
tracking mode. In high-speed tracking mode, the vessel heading setpoint is always
controlled to minimise the cross-track error while maintaining the wanted speed
(i.e. the crab angle is continuously changing).
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You can control surge manually if Heading setpoint is set to System selected and
Towards waypoint. When you press the AUTO SURGE button to deselect it, the
Heading setpoint group box becomes unavailable:
If heading setpoint is set to Operator and other than Towards waypoint, you cannot
control surge manually. When you press the AUTO SURGE button to deselect it the
following message is shown:
System selected
The vessel will automatically adopt the heading setpoint you have selected in
the list box:
• Waypoint table — Uses the heading defined in the waypoint table for
each section of the track.
• Minimum power — Uses the heading which requires the minimum power,
calculated according to the environmental forces and the vessel speed. In
calm weather, the track heading will be used as the wanted heading.
• Towards waypoint — Sets the required heading to be towards the next
waypoint, modified with the operator-specified crab angle. If the vessel
is close to the first waypoint when entering Auto Track (low-speed or
high-speed) tracking mode, the heading setpoint follows the direction of
the first track leg (modified with the operator-specified crab angle).
• Along arc — Sets the required heading to correspond to the tangent of
the arc when passing waypoints, modified with the operator-specified
crab angle. In low-speed and move-up tracking modes, when Towards
Waypoint or Along Arc heading setpoint strategy has been selected, you
can at any time also select to specify a fixed offset to the heading setpoint
in the Crab angle text box.
Note
This drop-down list is unavailable if the system is in high speed mode.
Crab angle
A positive value offsets the heading setpoint to starboard. As you can see
from the figure, the crab angle will remain constant both when following
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along arc passing waypoints and on straight legs. This can be a useful
feature, for example when performing pipelaying (to correct the lateral
position of the pipe at the end of the stinger). Depending on the operational
situation, you can change the crab angle when necessary.
During operation in low-speed and move-up tracking modes you can also
change the crab angle using the heading wheel and its three associated
buttons.
Note
If you change the tracking mode to move-up when running the vessel in Auto
Track mode, the heading setpoint is automatically changed to Along Arc.
If you change the tracking mode to high speed when running the vessel in
Auto Track mode, the heading setpoint is automatically changed to Towards
Waypoint, and the value in the Crab Angle text box is set to 0 degrees.
The Along arc heading setpoint changes automatically to Towards waypoint
if you select Slow down at waypoint when running the vessel in Auto Track
low-speed mode.
Operator
If the Auto Track operation allows a heading different from along the track, it
may be desirable to turn the vessel to a more favourable heading with respect
to the environmental forces. Use of operator specified fixed heading setpoint:
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The vessel will maintain the specified fixed heading (if this is possible in the
prevailing environmental conditions, with the currently available thruster
forces and with the present speed setpoint).
If heading setpoint is system selected the Operator text box displays the
present heading.
Crab angle limit
This feature applies only in high-speed tracking mode. In high-speed tracking

mode, the vessel heading setpoint is always controlled to minimise the cross-track
error while maintaining the wanted speed (i.e. the crab angle is continuously
changing). Crab angle limit allows you to set a limit for the crab angle (the angle
between the vessel heading and the track leg direction).
No limit
There will be no warning given if the crab angle limit is reached, and the crab
angle will not be restricted to this limit.
Alarm only
If the crab angle reaches the specified limit, an alarm message will be issued
as follows:
Track crab angle out of limits
Heading setpoint angle
Maximum allowed setpoint angle
Use limit
Automatically restricts the crab angle to the specified Limit.

Limit
The required crab angle limit.

Heading deviation limit when starting track
To make sure that you select the right start waypoint, you can limit when starting
set a heading deviation limit. If this limit is set, for example, to 25 degrees, the
waypoint must be within an area of 25 degrees to each side of the vessel's front (50
degrees in total).
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If the waypoint is located outside this area, a warning will be given:

Waypoint outside start sector
You must either increase the limit or turn the vessel towards the waypoint in
order to enter Auto Track mode. This applies only when the heading setpoint is
System selected.
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Dialog boxes
AutoTrack settings dialog box - Speed page

How to open
Example
Description
You can deselect the surge axis (so that the forward speed of the vessel is no longer
controlled automatically), and use the joystick to control the vessel speed.
In low-speed tracking mode this is provided that system-selected heading setpoint
Towards waypoint is used.
In move-up tracking modes, the speed control is always automatic.
Depending on the thruster configuration and vessel design the maximum speed for a
vessel in move-up or low-speed tracking mode should be less than approximately three
knots because at speeds higher than this the effect of the lateral (transverse) thrusters is
reduced.
Details
Along speed setpoint
Specifies the strategy for determining the vessel speed along the track:
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Waypoint table
The speed setpoint for each leg is taken from the waypoint table.
Operator
The speed setpoint specified here will be used for all track legs. When
Operator is selected, the speed setpoint can be changed at any time. When
running in Auto Track mode, the speed setpoint can also be changed using
the Speed page of the Position dialog box. The maximum value is 8 m/s.
Note
The speed can also be changed from the Speed setpoint dialog box.
Across speed setpoint
Allows you to specify the across speed setpoint that is used to determine the
component of the vessel speed that is perpendicular to the track direction. Typically
when the vessel is approaching the track for the first time, or in relation with the
track offset and leg offset.
Note
The Across speed setpoint is not used when correcting normal cross-track
deviations. It is the controller gain setting that determines the force to be used to
return the vessel to the track following a normal deviation from the track.
Waypoint speed strategy
Defines the strategy for passing waypoints: either to slow down at each waypoint
or to pass each waypoint at a constant speed. The Slow down at waypoint strategy
is available in low —speed and move-up tracking modes. In high-speed tracking
mode the Constant speed strategy is always used.
Slow down at waypoint
The vessel slows down at each waypoint before continuing to the next. The
K-Pos system automatically calculates the required speed reduction and the
distance from the waypoint at which the slowing down should start. When
you have selected Slow down at waypoint, the vessel (or more precisely, the
touch down point or rotation centre if touch down is not used) will pass
through the waypoints.
Waypoint reached limit
This limit is used in the Slow down at waypoint strategy and defines the radius
of a circle with its centre at the current waypoint. The waypoint is considered
to be reached within this circle. When the vessel enters this circle, it begins
to change heading if necessary. The limit circle is shown around the current
waypoint on the Posplot view.
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Constant speed
The vessel passes each waypoint with constant speed. To maintain a constant
speed when passing a waypoint, the vessel has to make the turn on an arc
of a circle. You can specify how the radius of the turn is obtained using the
Turn page of the AutoTrack settings dialog box.
The turn radius at each waypoint is shown on the Posplot view.
“Pass constant” is shown on the Cross track distance pane when the vessel
follows the turn arc in a waypoint turn.
When you have selected Constant speed, the vessel (or more precisely, the
touch down point or rotation centre if touch down is not used) will pass the
waypoints along circular arcs with specified or calculated turn radii.
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Speed control
In high-speed tracking mode, this feature allows you to define how the required
vessel speed is to be maintained. In move-up and low-speed tracking mode the
speed control is always Automatic.
Automatic
Controls the vessel speed automatically according to position and/or speed

measurements.
Deadband
You can specify a deadband value within which the speed can
increase/decrease without causing the applied thrust to change. Deadband is
only available in high-speed tracking mode when automatic speed control is
selected.
Speed/force table
Use constant pitch/rpm to obtain the required speed according to the

speed/force (thrust) table. This table is built into the system and is configured
as part of the tuning process when the system is installed. This feature can be
used to compensate for unreliable position measurements.
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Dialog boxes
AutoTrack settings dialog box - Turn page

How to open
Example
Details
Turn radius for waypoint turn
The strategy for determining the turn radius to be used when passing waypoints
at constant speed. This feature is always used in high-speed tracking mode, and
when the constant speed waypoint-passing strategy is selected in move-up and
low-speed tracking modes.
Waypoint table
The value from the waypoint table is used. The waypoints can have different
turn radii.
Automatic (using rate of turn)
The calculated value depends on the vessel speed, the currently-selected

rate of turn, the angle of turn and the vessel's turning characteristics. You
should bear in mind the following:
• Higher vessel speed causes a larger turn radius.
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• Lower rate of turn causes a larger turn radius.

Note
If you choose Automatic (using rate of turn), you must check that the rate of
turn is set to a suitable value. For example, if the rate of turn is very low, the
turn radius may become very large.
Operator
The turn radius you have specified here will be used for all waypoints. The
turn radius may be reduced at some waypoints due to geometrical constraints.
Wheel —over point (WOP) Alarm
Specifies whether an alarm is to be given before reaching a wheel-over point (the

point where a turn is initiated before a waypoint). Allows you to set the time in
minutes and seconds before reaching the wheel-over point at which an audible
alarm and alarm message is to be given. This function is available in low-speed
and high-speed tracking modes.
Note
The turn will be made even if the alarm message is not acknowledged.
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Dialog boxes
AutoTrack settings dialog box - Receive page

How to open
Example
Details
Receive Track/Waypoints from external Source and Send to
Enable reception
Enables and disables the reception of waypoints from an external source.
The check box is unavailable if you are sending a track to external systems.
Send track to external system
Enables and disables the transmission of waypoints to an external source.
The button is unavailable if you are receiving a track from an external system.
Receive from Source
Specifies the data source from which the waypoints are to be received.
Accept “0” as first waypoint WP
Select this check box if the table you receive includes a waypoint ID 0. If
you don’t select the check box a message is given:
Waypoint receive inconsistency
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Properties of external track at reception

Before receiving waypoints, you must specify the properties of the data to be
received. Appropriate properties will normally follow the Receive from Source
selection.
Geographic
The waypoints to be received are in a geographic coordinate system

(Latitude, Longitude).
Datum
Select the datum in which the received waypoints are defined.
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Dialog boxes
AutoTrack update strategy dialog box

You can select the strategy to be in use when updating tracks (track editing and track
offset functionality) and when receiving a track from an external source. The selected
update strategy determines when and which waypoints can be edited, and whether or
not a new track can be received.
How to open
Click Settings→(Track) Update strategy.
Example
Details
Always allowed
All waypoints (both their coordinates and all their attributes) on a track can always
be updated using track editing methods or by applying offsets.
Caution
When running in Auto Track mode, the selected update strategy and the present
Auto Track state are decisive for when track offset and a track editing method can
be used to change waypoints.
On remaining track
If the vessel is already on the track, only the waypoints on the remaining track
can be updated.
Not in Auto Track mode
No waypoints can be updated using track editing methods and/or track offset
functionality when in Auto Track mode (OK and Apply buttons not available).
However, track definition functionality and Geographic offset strategy can be used
to update waypoints when running in other system modes.
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Crab angle dialog box

Use this dialog box to change the crab angle during tracking operations.
Prerequisites
The tracking operation must be at low speed and system-selected heading must be
selected in the Auto Track Settings dialog box.
How to open
On the heading wheel press the ACTIVATE button once (top middle button).
Example
Details
The value (in degrees) shown in the upper part of the dialog is the crab angle from
the heading wheel, which changes immediately whenever the wheel is turned, or one
of the + and - buttons is pressed.
The value shown in the lower right-hand part of the dialog shows the heading setpoint
(in degrees).
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Dialog boxes
Steering dialog box

Use this dialog box to set up and configure the settings for the Auto Track mode.
How to open
Click Settings→(Control) Steering.
Related topics
Steering dialog box - Compensate page, page 98
Steering dialog box - Gain page, page 95
Steering dialog box - Steering page, page 88
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Steering dialog box - Steering page

How to open
Example
Description
Note
The vessel configuration determines the options that are available on this dialog box.
Use this page to:

• Set angle limits for the rudders and/or azimuth thrusters within which the
rudders/azimuth thrusters are allowed to operate.
• Select the steering mode which determines how the selected steering group is used
to steer the vessel.
• Select which pre-configured steering group is to be used for steering the vessel.
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Dialog boxes
• Set maximum steering and propulsion force.

The system is pre-configured with:
• The thrusters available for steering (steering units).
• The thrusters to provide only alongships force (force units).
• The steering units grouped into steering groups.
Example of vessel configuration. The thrusters are represented by numbers:
This example-vessel has three steering groups, each comprising two steering units.
These thrusters are also configured for use as force units.
Details
Limits
Automatic
In high-speed operations, the system will not turn the rudders/azimuth

thrusters beyond the specified limit. At high speeds, a relatively small limit
such as five degrees is often used.
If you try to enter angle values beyond predefined limits, a message
instructing you to correct the values will be displayed.
Manual
When the system is in high-speed operation, manual limits are not applicable.
Steering mode
This determines how the steering units within the active steering group are used to
steer the vessel. It is not available if there is only one steering unit.
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Steering group
In high-speed operations, you can select the preconfigured steering group to be

used for steering the vessel. This option is not available if there is only one defined
steering group.
MAX Force Limit %
The system will first apply force using the steering units, before using the force
units. In this way, steering is prioritised over alongships propulsion.
The limit, at which the system begins to apply force using the force units in
addition to the steering units, is determined by the MAX force limit % for Propulsion
and the MAX force limit % for Steering entries.
How the forces are distributed between the thrusters, is determined by the MAX
force limit % for Propulsion and the MAX force limit % for Steering entries.
The value of MAX force limit % for Propulsion cannot exceed the value of MAX
force limit % for Steering. The spin box will not allow you to enter a higher value
for Propulsion than the value for Steering.
If the vessel is configured with only one steering group and there are no additional
force units, these entries are not displayed on the dialog box.
If MAX force limit % for Propulsion is not enabled (check box not selected), all units
will increase to 100% simultaneously when the demand exceeds the steering limit.
Example
• The steering units are thrusters 7 and 8 (Steering group AUX).
• MAX force limit % for Propulsion is set to 60%.
• MAX force limit % for Steering is set to 90%.
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No thrust is applied to the force

units until the force demand reaches
90% on the steering units.
When the force demand is equal to

90% on the steering units, they are
frozen at this level until the force
units reach 60%.
Above this level there are three possibilities. The system configuration
determines the one which applies:
• The steering units are limited to 90% and the force units are limited to
60% even though the force demand is higher. (Normal configuration).
• The steering units will increase (if necessary) to 100%, while the force
units are still limited to 60%.
• The force units are limited to 60% until the steering units reach 100%.
The force units then start increasing if necessary.
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Examples of Steering mode

In the examples shown for the different steering modes, steering group AUX is used.
Synchronous — Both steering units have the same azimuth angle and are used to generate
the directional force.
Asynchronous Auto — Only one steering unit is used to generate the directional force,
while the other is fixed alongships. The steering unit is selected automatically depending
on the turn direction.
Asynchronous Starboard — The starboard steering unit generates the directional force.
The port steering unit is fixed alongships.
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Asynchronous Port — The port steering unit generates the directional force. The
starboard steering unit is fixed alongships.
Fixed angle — The steering thrusters are at fixed angles. Changing tha RPM and/or
pitch is used to obtain moment demand. Thruster angles will be fixed at the maximum
turn-angle limit as it is defined in the dialog box by the operator. For example, when yaw
control is active, the thrusters will stay at the Automatic angle limit (which is normally
default at 15 degrees). When yaw control is not active the thrusters will go to the Manual
limit (default 35 degrees). The thrusters will work inwards, that means the starboard
thruster will have a positive fixed angle and the port thruster will have a negative fixed
angle according to the limitations described above.
Note
Limitations to the Fixed angle function:
1 The steering group must consist of two members.
2 They must both be azimuth thrusters (not propellers with rudders).
3 The priority of the steering group must be higher than emergency (Aux or Propeller).
4 The thrusters must be located in the aft section of the vessel.
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Examples of Steering group

In the examples shown, the thrusters are represented by numbers. You can select between
the Emergency, AUX and Propeller steering groups. The names will be customized for
each vessel. The figures below show the effect of selecting these steering groups when
the Synchronous steering mode is also selected.
Steering units belonging to groups that are not selected for steering provide only
alongships force.
Steering group Emergency, demand to port.
Steering group AUX, demand to port.
Steering group Propeller, demand to port.
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Steering dialog box - Gain page

Use this page to set a gain level for the yaw axis in Auto Track (high speed) mode. The
gain level for counter rudder and auto trim can also be set.
How to open
Click Settings→(Control) Steering gain.
Example
Details
Gain level
Automatic
If configured for your system, automatic gain is available in Auto Track

(high speed) mode. When this option is selected, the system computes the
appropriate gain level based on the vessel speed.
You must clear the Automatic check box before you can select the gain level.
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Low Med. High
You can select one of three predefined controller gain levels: Low (50%),
Med. (Medium) (100%) or High (150%). The selected gain level applies to
the yaw axis in Auto Track (high speed) mode.
(Operator defined)
The gain level can also be set manually between 50% and 150% by clicking
the up/down arrows or typing in the required value.
Different gain level for each of the three standard gain levels are defined to
suit the characteristics of the vessel. The deviations in heading and rate of
turn are multiplied by the selected gain factor to obtain the required moment
demand.
If a new mode is selected where Automatic gain is not allowed, the controller
gain level is automatically changed to the default value, and a warning will
be given.
The most suitable gain level depends on the vessel characteristics, the
weather conditions and the required accuracy. Operational experience
therefore plays a large part in determining the optimal gain level, but the
following general points should be noted:
• High gain provides the quickest vessel response and the most accurate
manoeuvring.
• Medium gain provides a slower vessel response than high gain.
• Low gain provides the slowest vessel response.
Counter rudder
This can be set in the range from 50 to 150%, with a default of 100%.
The counter rudder gives a smooth transition to a new heading after a major course
change.
If the counter rudder setting is too low, there may be an overshoot past the new
heading and it may take a long time before the new heading is stabilised.
If the counter rudder setting is too high, there may be an over-correction followed
by a small overshoot past the new heading, and the vessel may tend to oscillate
around the new heading. A typical symptom here is an over-active rudder.
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Auto trim
This corrects for static heading deviation due to weather forces.

The Auto trim can be set in the range from 50 to 150%, with a default of 100%.
A low Auto trim setting (minimum 50%) results in a slower correction of static
heading deviation.
A high Auto trim setting (maximum 150%) results in a faster correction of static
heading deviation.
Reset
Click this button to reset the Gain level, Counter rudder and Auto trim to the default
settings.
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Steering dialog box - Compensate page

Use this page to enable or disable wind forces compensation and thruster moment
compensation.
How to open
Example
Details
Environment
Wind forces compensation
When wind force compensation is enabled, the vessel will react much more
quickly to sudden changes in wind speed and direction.
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Thrusters
Moment compensation
This is only available on a few vessels where vessel speed is controlled by

manual levers.
When the vessel speed is controlled by manual levers and the vessel heading
is controlled by the DP system, the DP system normally compensates
automatically for the turning moment generated by the force thrusters. When
the Moment compensation check box is selected for a thruster, the system
reads the feedback signal from that thruster and takes account of the resulting
turning force.
If there is a known fault situation where the feedback from a particular force
thruster is unreliable, you can clear the corresponding Moment compensation
check box. The DP system will no longer compensate for the effect of this
thruster.
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Waypoint dialog box

Use this dialog box is to define new tracks and modify existing tracks directly on the
Posplot view.
Prerequisites
The selected AutoTrack update strategy determines whether or not you can edit a track
while the system is in Auto Track mode.
How to open
Click Settings→(Track) New or →(Track) Modify.
Example
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Description
You can define new tracks and modify existing tracks directly on the Posplot view using
the cursor and the Waypoint dialog box. The Waypoint dialog box provides the necessary
information about the waypoints you define, and allows the track to be edited. Editing
is performed on the original track, not the offset track.
Details
Number
Shows the track sequence number of the waypoint for which the information
applies.
Position
The position of the waypoint, or, during track editing, the current position of the
cursor.
Leg length
The length of the leg from the current waypoint to the next. If the current waypoint
is the last waypoint, the length of the last leg is shown.
Leg course
The course of the leg in the forward track direction (with increasing waypoint
numbers).
Turn radius
The turn radius the vessel shall use when passing the waypoint. The turn radius
can be defined within specified limits.
Editing mode
When deleting or inserting new waypoints, the waypoint numbers will

automatically change to reflect the waypoints number in the sequence. The
maximum number of waypoints in a track is 1000. When this limit is reached, the
Insert new option button becomes unavailable and Move becomes the new default
Editing mode.
If you then delete one waypoint, the Insert new option button becomes available
again.
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Displayed information
Topics
Conning view, page 103
Cross track distance pane, page 108
Posplot view control - Show page, page 110
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Conning view
The Conning view provides useful information in high-speed modes, especially during
transit and manoeuvring, and shows the thruster layout, heading information and
information related to the selected mode.
How to open
To select the view, place the cursor in the upper left corner of the working area so that
the drop-down list becomes visible. Click the arrow and select the view from the list.
Alternatively, you can click the Conning button on the side bar or a dedicated button
on the panel.
The Conning view is displayed as a new window.
Example
Description
The panes that are special for the Conning view are Heading, Steering control mode
and Steering.
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Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
The Heading pane on the Conning view contains most of the same information as the
Heading pane on the dashboard. The main differences are:
• None of the areas are click-sensitive.
• The setpoint values (in brown colour) are always visible, either as a numerical value
or as ‘- - - - - - - -’.
104 407281/B
Steering control mode pane

This pane shows information related to track steering.
Setpoints Course
The current course setpoint.
ROT
When this value is given in brown, it is the setpoint for the
Rate of Turn for a turn that is currently in progress. When
the value is grey, it is the calculated Rate of Turn for a turn
that is currently in progress.
Radius
When this value is given in brown, it is the setpoint for the
Turn Radius for a turn that is currently in progress. When
the value is grey, it is the calculated Turn Radius for a turn
that is currently in progress.
Destination ETA
The estimated time of arrival at the route's destination.
Remaining time
The time left until the estimated time of arrival.
407281/B 105
Next leg DIST

The length of the next leg.
Turn radius
The radius of the up-coming turn (if you are on track).
Course
The course of the next leg of the programmed route.
Current leg Course

The course of the current leg of the programmed route.
Time to WOP
The time left till arrival at the next wheel-over point.
DIST to WOP
The distance to the next wheel-over point.
A progress indicator, showing how much of the current leg has

been travelled so far. The indicator is in the form of a vertical
sequence of 10 rectangles: the filled ones each represent a tenth
of the completed leg.
The progress indicator includes a turn indicator arrow, showing
the general direction of the turn between the current and the next
leg. The size of the turn in degrees is given.
The cross-track deviation is indicated numerically in meters

PORT or STBD, and graphically by a horizontal bar chart.
106 407281/B
Steering pane
This pane contains information about the heading control.
Clicking any position on this pane opens the Steering dialog box.
407281/B 107
Cross track distance pane

This pane shows information important during tracking operations.
Graphical presentation of the readings for the vessels movement

along the track. The blue line represents the vessel movement,
the brown line represents the track.
The solid black lines are the alarm limits, and the dotted lines
are the warning limits.
The inverted ‘T’ indicates the vessel heading relative to the
track direction.
Clicking this area opens the Alarm limits dialog box. Clicking
the right trackball button opens the History settings view control.
This area shows:

• The current Auto Track state (for example: On track).
• The track direction as defined on the Auto Track settings
dialog box.
• The crab angle and the next waypoint number.
• The distance and time to the next wheel-over point, except
when Heading Setpoint is Operator Selected, or while on a
turn arc.
Clicking this area opens the Auto Track settings dialog box.
The time span for showing the readings graphically. This can be
changed using the History settings view control.
The distance from the vessel to the track setpoint (brown line).
108 407281/B
Related topics
407281/B 109
Posplot view control - Show page

How to open
Example
Details
Show/Hide
Display or remove various features of the Posplot view. The choice of features
available is configured for each vessel.
Track
When selected, the track determined by the track table,
is shown. The example shows the instance where Show
Track is selected and Touch Down (as defined in the
AutoTrack settings dialog box) is used. The dotted line
displays the waypoint turn that the touch-down point shall
follow, and the solid drawn line displays the track.
Org. Track
When Org. Track is selected, the original track is shown. When no Track
Offset is selected, selecting/clearing Org. Track has no effect as long as
Show Track is selected.
110 407281/B
Index
Index
A Steering................................................. 88
Waypoint ................................................ 100
Alarm limits dialog box
Position.................................................... 52
Approach track dialog box ................................ 54 H
Auto Track mode
definitions ................................................. 11 Heading pane .............................................. 104
description ................................................. 6
high-speed ................................................ 10
low-speed .................................................. 7 O
move-up .................................................... 9 offsetting a leg............................................... 48
offset.................................................. 47–48 offsetting a track ............................................ 47
preparing .................................................. 26
resuming .................................................. 43
running high speed....................................... 35 P
running move-up......................................... 37
Auto Trackmode panes
running low speed ....................................... 33 Cross track distance ................................... 108
AutoTrack editor dialog box .............................. 55 Heading ................................................. 104
AutoTrack move-up dialog box........................... 58 Steering.................................................. 107
AutoTrack offset dialog box............................... 61 Steering control mode ................................. 105
AutoTrack settings dialog box ............................ 64
General .................................................... 65
Heading ................................................... 72 S
Receive .................................................... 83 Steering control mode pane ............................. 105
Speed ...................................................... 77 Steering dialog box ......................................... 87
Stop ........................................................ 69 Compensate............................................... 98
Turn........................................................ 81 Gain........................................................ 95
AutoTrack update strategy dialog box ................... 85 Steering.................................................... 88
Steering pane .............................................. 107
C
changing track direction T
high-speed tracking...................................... 36 track resume point .......................................... 43
low-speed tracking....................................... 34
Conning view.............................................. 103
Crab angle dialog box ...................................... 86 V
Cross track distance pane ................................ 108
view controls
Posplot
D Show.................................................. 110
views
dialog boxes ................................................. 50 Conning ................................................. 103
Alarm limits
Position................................................. 52
Approach track ........................................... 54 W
AutoTrack editor ......................................... 55
AutoTrack move-up ..................................... 58 Waypoint dialog box ..................................... 100
AutoTrack offset ......................................... 61 waypoint table............................................... 15
AutoTrack settings....................................... 64
General ................................................. 65
Heading ................................................ 72
Receive ................................................. 83
Speed ................................................... 77
Stop ..................................................... 69
Turn..................................................... 81
AutoTrack update strategy.............................. 85
Crab angle ................................................ 86
Steering.................................................... 87
Compensate............................................ 98
Gain..................................................... 95
407281/B 111
K-Pos DP Capability and Motion
Prediction Analysis
Operator Manual
Release 8.3
407295/A
July 2016 © Kongsberg Maritime AS
Document history
Document number: 407295 / Revision A

Rev. A July 2016 This version describes the operation of the DP Capability and Motion
Prediction Analysis functions at basis software release 8.3.0.
The reader
Note
Warning
The user must be familiar with the contents of the appropriate manuals before attempting to operate
Comments
e-mail: km.documentation@kongsberg.com
For technical support issues, please contact km.support@kongsberg.com.
www.kongsberg.com
Operator Manual
Table of contents
DP CAPABILITY AND MOTION PREDICTION ANALYSIS ........... 5

DP CAPABILITY ANALYSIS ...................................................... 6
Overview............................................................................................................................6
Preparing for DP Capability Analysis................................................................................8
Running DP Capability Analysis .......................................................................................8
Example .............................................................................................................................9
Procedure..................................................................................................................9
Interpreting the Capability plot view......................................................................12
Displaying the danger area .....................................................................................13
The Most Loaded Thruster (MLT) function ...........................................................15
Worst single failure.................................................................................................16
Discussing the trustworthiness of the results .........................................................18
MOTION PREDICTION ANALYSIS........................................... 19
Overview..........................................................................................................................19
Preparing for Motion Prediction Analysis .......................................................................20
Running Motion Prediction Analysis ..............................................................................21
Example ...........................................................................................................................21
Procedure................................................................................................................21
Interpreting the Motion prediction view ................................................................25
Vessel position offset..............................................................................................26
Watch circles ..........................................................................................................27
The variable watch circle .......................................................................................28
Discussing the trustworthiness of the results .........................................................28
DIALOG BOXES ...................................................................... 30
DP Class dialog box.........................................................................................................31
DP Capability and Motion Prediction Settings dialog box..............................................33
Main page ...............................................................................................................34
Run Control page....................................................................................................37
Thrusters page ........................................................................................................39
Power page .............................................................................................................41
Waves page.............................................................................................................43
Vessel Position dialog box ...............................................................................................44
Watch Circle dialog box...................................................................................................45
DISPLAY VIEWS .................................................................... 46
Capability plot view.........................................................................................................47
Limiting wind speed presentation ..........................................................................48
Most loaded thruster presentation ..........................................................................53
407295/A 3
K-Pos DP Capability and Motion Prediction Analysis
The electronic bearing line .....................................................................................55

Capability plot view control ...................................................................................56
Motion prediction view....................................................................................................57
Motion Prediction view control..............................................................................60
4 407295/A
DP Capability and Motion Prediction Analysis
DP Capability and Motion

Prediction Analysis
The DP Capability and Motion Prediction Analysis functions are used to analyze and
predict operational margins for your vessel and the effects of single-point failures.
The basis for the analyses is the PRESENT environmental conditions (relative to the
vessel heading) specified by the operator.
Due to the cyclic nature of the analysis program, i.e. that the analysis is run automatically
at preset intervals, you should evaluate the PRESENT environmental conditions
regularly, and input new values if they have changed significantly.
Be aware that:
• All directions are to be specified relative to compass north (TRUE NORTH).
• The sea current amplitude is “real” current and not “DP” current.
Both the DP Capability Analysis and the Motion Prediction Analysis functions are online
functions. Analyses are performed cyclically (usually every five minutes), provided the
system has first settled for at least 2.5 minutes in Auto Position mode and with status
Mode: PRESENT. This status is indicated on the dashboard in the Position deviation
and Heading panes.
407295/A 5
DP Capability Analysis
Topics
Overview, page 6
Preparing for DP Capability Analysis, page 8
Running DP Capability Analysis, page 8
Example, page 9
Overview
The DP Capability Analysis function computes the maximum weather conditions
in which the vessel is able to continue DP operations and allows you to select the
optimal heading for safe operation. Analyses are performed cyclically (usually every
five minutes).
When the analyses are performed, a force correction is taken into account.
The following criteria must be satisfied:
is PRESENT.
The maximum weather conditions in which the vessel can maintain its position and
heading are predicted. The weather conditions are defined by a one-minute mean wind
velocity, a most-probable significant wave height and a corresponding mean wave period.
For a discrete number of vessel headings, the mean environmental loads from
wind, waves and current all having constant (fixed) directions, are calculated. The
environmental loads are increased (for example, through an increase in mean wind
6 407295/A
speed and corresponding significant wave height), until one or both of the following
situations occur:
• There is insufficient thrust for position and heading keeping.
• There is insufficient power for position and heading keeping.
The results of the analysis are displayed on the Capability plot view as limiting wind or
current speed capability envelopes, one for each of the situations listed above.
Example capability plot
In this example, the capability envelopes show the limiting one-minute mean wind
speed. By examining this display, you can see the present operational margins with
respect to the environmental conditions, and the optimal heading (with respect to the
weather conditions) to select for safe operation.
407295/A 7
Preparing for DP Capability Analysis

Context
You can only enter settings from the operator station in command. The OK and Apply
buttons on the DP Capability and Motion Prediction Settings dialog box appear dimmed
on all the other operator stations in the system. The analysis will still be running on these
operator stations, but their settings are inherited from the operator station in command.
Procedure
1 On the DP Class dialog box, select the appropriate DP class.
2 On the Main page of the DP Capability and Motion Prediction Settings dialog box,
specify the environmental conditions:
• Select Automatic calculation to use the environmental conditions that are
currently calculated from the measured wind speed and direction.
• Deselect Automatic calculation to allow manual entry of the present weather
conditions.
3 On the Run Control page of the DP Capability and Motion Prediction Settings dialog
box, select the required failure type(s) and the required Environmental variation.
a If Thruster failure is selected, open the Thrusters page and select the
thrusters/rudders that are to be simulated as inactive.
b If Switchboard failure and/or Generator failure is selected, open the Power
page and select the switchboards and/or generators that are to be simulated
as inactive.
4 On the Waves page of the DP Capability and Motion Prediction Settings dialog box,
select the wave spectrum.
Related topics
DP Class dialog box, page 31
DP Capability and Motion Prediction Settings dialog box, page 33
Running DP Capability Analysis

Prerequisites
The system must settle in Auto Position mode (with status Mode: PRESENT shown in the
Position deviation and Heading panes on the dashboard) for at least 2.5 minutes before
calculations can be performed.
8 407295/A
Context
When the function is available, analyses are performed cyclically (usually every five
minutes). You can also start a new analysis at any time by clicking OK or Apply in the
DP Capability and Motion Prediction Settings dialog box.
Example
Procedure
This example shows the DP Capability Analysis function used in a simulated
environment, but the function and follow-up of results are the same as in “real life”
applications.
Prerequisites
The vessel must be controlled from the bridge or from another K-Pos OS. For systems
with only one K-Pos OS, the system must be in Standby mode.
Procedure
1 Start the built-in trainer:
a Click System→Connect.
b Click MainSim. in the Connect dialog box.
c Click OK or Apply.
The operator station is connected to the MainSimulator controller group.
d Take command of the MainSimulator controller group.
The TAKE status lamp on the operator panel is lit.
2 Use the Trainer Settings dialog to specify a suitable combination of wind and sea
current, preferably in a sector close to the bow. Ensure that the selected weather
condition is not so severe that it will cause the (simulated) vessel to drift off.
Refer to the Built-in Trainer chapter in the K-Pos Operator Manual for setting up
and using the built-in trainer.
3 Enable all thruster for DP operation:
a Click Thruster→Enable to open the Thruster Enable dialog box.
b Select Enable/disable All and click OK.
4 Ensure that the required sensors and position-reference systems are enabled.
5 Go to Auto Position mode by pressing the AUTO POSITION button on the operator
panel twice.
6 Allow the vessel to settle.
407295/A 9
7 Click Settings→(General) DP capability analysis to open the DP Capability and

Motion Prediction Settings dialog box.
8 Wait for the Simulation possible indicator on the dialog box to turn from yellow
to green.
This indicates that the DP Capability Analysis and Motion Prediction Analysis
functions are available and that calculations can be performed.
9 If manual input is required, deselect Automatic calculation of wave and current
properties and enter the present weather conditions as accurately as possible.
10 To investigate the effect of taking one or more thrusters out of service, select the
Run Control page and then select the Thruster failure check box.
11 To compare the conditions in the case of thruster failure with the present
configuration regarding thrusters and power, select the Present systems running
check box.
10 407295/A
12 Select the Thrusters page, and then select one or more thrusters as inactive by
selecting the appropriate Inactive check boxes.
13 Click Apply to start the DP Capability Analysis.

14 Select the Capability plot view.
15 Right-click in the working area to display the Capability Plot view control dialog
box.
16 Ensure that Limiting wind/current speed is selected as the presentation format.
17 Wait for the simulations to finish.
407295/A 11
18 The DP Capability Analysis has low computational priority on the operator station,
and the analysis may therefore take some time.
The resulting view will show the limiting wind speed presentation for thruster failure
compared to present systems running and may look like the example shown below.
Interpreting the Capability plot view

The results of the DP Capability Analysis appear as two DP capability envelopes on the
view, one for Present systems running and one for Thruster failure.
The present wind speed is shown with a dark blue circle having a radius equal to the
measured present wind speed. The intersection point between the present heading
indicator arrow and the present wind speed circle is shown with a small, shaded, dark blue
circle. It is important that you focus on this intersection point, because it is the position of
this point relative to the limiting wind speed(s) that shows you the operational margins.
12 407295/A
You will get a good impression of the effect of removing four thrusters by looking at the
capability envelopes and comparing them to the position of the wind speed indicator.
You can however investigate the effect more closely by looking at the field for numerical
information presented below the capability plots. By examining the column for Vessel
HDG, you will see the numerical values for limiting wind speed at the present heading
for the two capability envelopes. By removing four thrusters, the limiting wind speed is
reduced from 40.6 m/s to 30.2 m/s. The present wind speed is 13.0 m/s. The operational
margin is defined as the difference between the limiting wind speed and the present
wind speed.
Related topics
Limiting wind speed presentation, page 48
Displaying the danger area

The Danger Area is defined as the wind speeds at which the operational margin status
indicators change colour to orange. These wind speeds can be shown in the Capability
plot view as a dashed capability envelope.
Procedure
1 Right-click on the Capability plot view and select View control.
2 The Capability Plot view control dialog box is opened.
407295/A 13
3 To be able to view the Danger Area, you can select only one capability envelope
for display in the view. If more than one envelope under Show has already been
selected for display, the Danger area check box is disabled. Deselect all capability
envelopes (failure conditions) except one. (In this example we clear the Thruster
failure check box.)
4 Select the Danger area check box.
Result
The danger area is now shown as a dashed capability envelope in the same colour as the
envelope for the failure condition we have selected to be shown. (In this example we
have selected to show the capability envelope for Present systems running.)
When the wind speed exceeds the limit indicated by the Danger area envelope, the
operational margin status indicators for present heading and EBL heading change colour
to orange.
14 407295/A
The Most Loaded Thruster (MLT) function

You can display the MLT results by selecting Most loaded thruster under Presentation in
the Capability Plot view control dialog box.
The displayed capability envelopes represent the MLT average force requirement for all
vessel headings and for all selected failure configurations.
The colour of the operational margin status indicators change when the average force
requirement exceeds pre-configured percentages of a specified limit:
• An indicator is yellow when the average force requirement for the most loaded
thruster is between 80 % and 95 % of the force requirement Limit entered in the
Capability Plot view control dialog box.
• An indicator is red when the average force requirement for the most loaded thruster
exceeds 95% of the force requirement Limit entered in the Capability Plot view
control dialog box.
In the previous example, you can see that for the present vessel heading (324.1 degrees),
the Average force requirement for the most loaded thruster is 29% for the Present systems
running condition and 43 % for the Thruster failure condition. Having an average force
407295/A 15
requirement limit of 80 % for the most loaded thruster indicates that the operational
margin is close to be exceeded if the Thruster failure condition you have set up should
occur.
By changing the vessel heading approximately 10 degrees towards the weather, the
Average force requirement for the specified Thruster failure condition will fall well below
the 80% limit.
The two MLT envelopes are placed more or less symmetrically about an axis going
through the centre of the plot pointing towards the weather. With the heading of the
vessel along this axis, the Average force requirement for the most loaded thruster will be
at a minimum and thus have the best possible operational margin.
Related topics
Most loaded thruster presentation, page 53
Worst single failure

When you select Class 2 or higher, the DP Capability and Motion Prediction Analysis
function simulates a worst single failure for each vessel heading by computing the
limiting wind speed for all failures at each heading. The failure that has the lowest
limiting wind speed for a particular heading is selected as the worst single failure for that
heading. You can not deselect the worst single failure simulation if you have selected
DP class 2 or higher.
The worst-case single-equipment failures that are simulated are predefined according
to the power and thruster configuration of the vessel. Typically, these failures will be
the loss of one complete switchboard, one engine room, or a group of thrusters that can
be affected by a single equipment failure.
For systems with batteries as a part of the main power supply, the analysis include
calculation of the remaining life time of the batteries.
The analysis always checks if a power segment is powered solely by batteries. In this
case the remaining life time is shown on the Rotation center position pane.
16 407295/A
Example of worst single failure with viewing Limiting wind speed:
Example of worst single failure with viewing Most loaded thruster:
407295/A 17
Discussing the trustworthiness of the results

A force correction is taken into account in the analysis. This force correction is the
difference between the sum of forces experienced by the DP controller and the sum of
forces that can be computed on the basis of the specified present environmental condition.
If we define the operational margin as the difference between the limiting wind speed and
the present wind speed, the accuracy will decrease when the operational margin increases.
The danger area can be interpreted as an expression for the uncertainty in the DP
Capability Analysis. Correct use and interpretation of the danger area is an important
part of the DP Capability Analysis.
The following text discusses the components of the Capability plot view and their
specific features in more detail.
Capability envelopes
Reflect the maximum weather in which the DP operations can be continued. There
is one envelope in the view for each failure selected (you can select a maximum of
five failures).
Limiting wind speed at present heading
Can be read graphically and/or numerically for present heading and/or any vessel
heading using the Electronic Bearing Line (EBL).
Present heading
The instantaneous vessel heading is given numerically and also indicated by the
orientation of the dark blue present heading indicator arrow on the plot.
Average heading at time of analysis
Given numerically relative to true north and indicated by the orientation of the
vessel symbol on the plot.
Operational margin status indicators
In the case of a safe operational margin, these circular indicators display a green
colour. As the operational margins decrease (i.e. when the weather conditions
worsen), the indicators change colour to orange (unsafe). When an indicator is
orange, “Insufficient thrust” and/or “Demand reduction on swbd xx” messages
may be expected. The positioning accuracy may be reduced. When the wind
speed is very close to the limiting wind speed, the indicator turns red (Drift-off
is likely to occur).
18 407295/A
Motion Prediction Analysis
Topics
Overview, page 19
Preparing for Motion Prediction Analysis, page 20
Running Motion Prediction Analysis, page 21
Example, page 21
Overview
The Motion Prediction Analysis function performs simulation of the vessel's drift-off
as a function of time for selected failure situations. When the drift-off simulation is
performed, a force correction is taken into account.
The Motion Prediction Analysis function is closely connected to the DP Capability
Analysis function because they share the same simulated failure configurations and
operator definition of present environmental conditions.
The following criteria must be satisfied:
is PRESENT.
The vessel's drift-off motion as a function of time can be evaluated for the following
situations:
• Present conditions with regard to thrusters and generators
• Loss of one or more thruster units
• Loss of one or more power generators (with possible loss of connected thrusters)
407295/A 19
• Loss of one switchboard (switchboard failure)

• Worst single failure (when DP class 2 or higher has been selected on the DP Class
dialog box)
Using the Vessel Position dialog box you can specify offsets to the position setpoint
to be used as the start position for the drift-off simulations. Using the Watch Circle
dialog box you can define watch circles (drift-off boundaries) to be shown in the Motion
prediction view.
The results of the drift-off simulations are presented in the Motion prediction view. The
vessel's motion is shown as a function of time from an aerial view above the vessel. A
time trace is shown for each configured failure, together with the specified watch circles.
Additionally, the time to reach each of the watch circles is presented numerically.
You can investigate the time traces more closely by means of a Variable Watch Circle
(VWC) which allows you to see how long it takes to reach an arbitrary distance from the
starting point and also the vessel's heading at this point.
Preparing for Motion Prediction Analysis

Context
You can only enter settings from the operator station in command. The OK and Apply
buttons on the DP Capability and Motion Prediction Settings dialog box appear dimmed
on all the other operator stations in the system. The analysis will still be running on these
operator stations, but their settings are inherited from the operator station in command.
Procedure
1 On the DP Class dialog box, select the appropriate DP class.
2 On the Main page of the DP Capability and Motion Prediction Settings dialog box,
specify the environmental conditions:
• Select Automatic calculation to use the environmental conditions that are
currently calculated from the measured wind speed and direction.
• Deselect Automatic calculation to allow manual entry of the present weather
conditions.
3 On the Run Control page of the DP Capability and Motion Prediction Settings dialog
box, select the required failure type(s) and the required Environmental variation.
a If Thruster failure is selected, open the Thrusters page and select the
thrusters/rudders that are to be simulated as inactive.
b If Switchboard failure and/or Generator failure is selected, open the Power
page and select the switchboards and/or generators that are to be simulated
as inactive.
4 On the Waves page of the DP Capability and Motion Prediction Settings dialog box,
select the wave spectrum.
20 407295/A
5 On the Vessel Position dialog box, specify offsets to the vessel position setpoint to be
used as the start position of the drift-off simulations.
6 On the Watch Circle dialog box, specify circular watch area boundaries for display
on the Motion prediction view.
Related topics
Running Motion Prediction Analysis

Prerequisites
The system must settle in Auto Position mode (with status Mode: PRESENT shown in the
Position deviation and Heading panes on the dashboard) for at least 2.5 minutes before
calculations can be performed.
Context
When the function is available, analyses are performed cyclically (usually every five
minutes). You can also start a new analysis at any time by clicking OK or Apply in the
DP Capability and Motion Prediction Settings dialog box.
Example
Procedure
This example shows the Motion Prediction Analysis function used in a simulated
environment, but the function and follow-up of results are the same as in “real life”
applications.
Prerequisites
The vessel must be controlled from the bridge or from another K-Pos OS. For systems
with only one K-Pos OS, the system must be in Standby mode.
Procedure
1 Start the built-in trainer:
a Click System→Connect.
b Click MainSim. in the Connect dialog box.
c Click OK or Apply.
The operator station is connected to the MainSimulator controller group.
407295/A 21
d Take command of the MainSimulator controller group.

The TAKE status lamp on the operator panel is lit.
2 Use the Trainer Settings dialog to specify a suitable combination of wind and sea
current, preferably in a sector close to the bow. Ensure that the selected weather
condition is not so severe that it will cause the (simulated) vessel to drift off.
Refer to the Built-in Trainer chapter in the K-Pos Operator Manual for setting up
and using the built-in trainer.
3 Enable all thruster for DP operation:
a Click Thruster→Enable to open the Thruster Enable dialog box.
b Select Enable/disable All and click OK.
4 Ensure that the required sensors and position-reference systems are enabled.
5 Go to Auto Position mode by pressing the AUTO POSITION button on the operator
panel twice.
6 Allow the vessel to settle.
7 Click Settings→(General) DP capability analysis to open the DP Capability and
Motion Prediction Settings dialog box.
8 Wait for the Simulation possible indicator on the dialog box to turn from yellow
to green.
This indicates that the DP Capability Analysis and Motion Prediction Analysis
functions are available and that calculations can be performed.
9 If manual input is required, deselect Automatic calculation of wave and current
properties and enter the present weather conditions as accurately as possible.
22 407295/A
10 To investigate the vessel drift in case of blackout, select the Run Control page and
then select the Thruster failure check box.
11 To compare the conditions in the case of thruster failure with the present
configuration regarding thrusters and power, select the Present systems running
check box.
12 Select the Thrusters page, and then select one or more thrusters as inactive by
selecting the appropriate Inactive check boxes.
13 Select the Run Control page and click Watch circ.

The Watch Circle dialog box is opened.
407295/A 23
14 Set the radius for the Green, Yellow and Red watch circles to 10, 20 and 30 metres
respectively, and select them for display.
15 Ensure that Distance and Direction are set to zero.
16 Click OK to return to the Run Control page.
17 Click Vessel pos in the Run Control page.
The Vessel Position dialog box is opened.
18 Ensure that Distance and Direction are set to zero.

19 Click OK to return to the Run Control page.
20 Click Apply in the DP Capability and Motion Prediction Settings dialog box to start
the Motion Prediction Analysis.
21 Select the Motion prediction view.
22 Right-click in the view and select View control.
The Show page of the Motion prediction view control dialog box is opened.
24 407295/A
23 Select Thruster failure and Present systems running check boxes to display the
motion prediction (line of motion) for these two failure conditions.
24 Select the Vessel and Tag check boxes to display the trace marks as vessel symbols
and time tags on the vessel's predicted line of motion.
25 Select a suitable time Interval for the display of the vessel's trace marks. (For the
purpose of this example, keep the default interval of 30 seconds between trace
marks.)
26 Wait for the simulations to finish.
The Motion Prediction Analysis has low computational priority on the operator
station, and the analysis may therefore take some time.
Interpreting the Motion prediction view

The results of the Motion Prediction Analysis are presented as a view from above of
the simulated drift (i.e. the vessel's drift-off motion) with trace marks on the line(s)
of motion. Generally, there will be one line of motion on the view for each failure
selected for simulation. However, lines of motion are not shown for selected failure
situations where drift-off is not experienced, for example for Present systems running in
our example.
The time in minutes and seconds taken to reach each of the watch circles is shown below
the graphical display. The example shown is the result of a simulation of a total blackout
(all thrusters selected as inactive). The analysis predicts that the vessel will use 2 minutes
and 35 seconds to drift 10 metres, and 4 minutes and 15 seconds to drift 30 metres.
407295/A 25
Related topics
Motion prediction view, page 57
Vessel position offset

The start position of the simulations is by default the vessel's position setpoint. The start
position can be offset prior to a simulation using the Vessel Position dialog box.
In the example shown below, the start position of the vessel is offset a distance of 8 m
(grid distance is here 10 m) in a direction of –90 degrees (i.e. 270 degrees) from the
centre of the plot (which is the vessel's position setpoint).
26 407295/A
Position setpoint
(the default start position)
The vessel 's start position

in the analysis
Offset values (distance and

direction) from the position setpoint
for the vessel 's start position
in the analysis
Cd3269B
Related topics
Vessel Position dialog box, page 44
Watch circles
The centre of the watch circles is by default the vessel's position setpoint. The watch
circles can be offset using the Watch Circle dialog box.
In the following example, the centre of the watch circles is offset a distance of 8 m (grid
distance is here 10 m) in a direction of 135 degrees from the vessel's position setpoint.
Note
In the example shown, it is assumed that the vessel's offset from the position setpoint
is 0 (Distance = 0.00 m in the Vessel position dialog box).
407295/A 27
Position setpoint
The centre of the watch circles
is offset a distance of 8 m in a
direction of 135 degrees from
the position setpoint.
Offset values (distance and direction)

for the centre of the watch circles
Cd3270B
Related topics
Watch Circle dialog box, page 45
The variable watch circle

The Motion prediction view also provides a variable watch circle (VWC).
Click the VWC symbol in the Motion prediction view to display or hide the VWC.
When active, the VWC is shown in blue and you can change its range using the trackball.
The numerical values for time and heading at VWC for the selected failures are
dynamically updated and shown in the lower right corner of the view.
Discussing the trustworthiness of the results

The following assumptions are made in the simulations when performing the Motion
Prediction Analysis:
• The vessel starts on the position setpoint (unless there has been an offset specified in
the Vessel position dialog box).
• The start velocity of the vessel is zero.
• Static environmental forces are used.
In practice, none of these three assumptions are fulfilled.
Firstly, the vessel will never be completely at rest and the experienced start position in
case of a failure will therefore not be exactly equal to the position setpoint.
28 407295/A
Secondly, the dynamic nature of the wind and wave loads will naturally also affect the
time experienced to reach the watch circles.
You should therefore consider the results of the Motion Prediction Analysis simulations
as indications only. The time experienced to reach the watch circles may be greater or
less than the predictions, but the aim is to provide you with an average time to reach
these circles.
407295/A 29
Dialog boxes
Topics
Use this dialog box to set the class of operation for the DP Capability Analysis function.
Use this dialog box to set the required conditions for the DP Capability and Motion Prediction
Analysis functions.
Vessel Position dialog box, page 44
Use this dialog box to specify offsets to the vessel position setpoint, to be used as the start position
of the drift-off simulations. This start position is offset relative to the centre of the Motion
prediction view.
Watch Circle dialog box, page 45
Use this dialog box to specify circular watch area boundaries for display on the Motion prediction
view.
30 407295/A
Dialog boxes
DP Class dialog box

Use this dialog box to set the class of operation for the DP Capability Analysis function.
How to open
Click Settings (General)→DP class.
Example
Description
If configured, the currently-selected DP class is indicated in the Rotation center position
Details
Time to next analysis
This timer refers to the DP Online Consequence Analysis function. When the DP
Online Consequence Analysis is running, the time to the next sample is counting
down and shown in this box.
DP class
When you select Class 2 or higher, the DP Capability and Motion Prediction
Analysis function simulates a worst single failure for each vessel heading by
computing the limiting wind speed for all failures at each heading. The failure
that has the lowest limiting wind speed for a particular heading is selected as the
worst single failure for that heading. You can not deselect the worst single failure
simulation if you have selected DP class 2 or higher.
Battery settings
Select the check box to include the batteries in the DP Online Consequence
Analysis.
407295/A 31
Use the spin box to define the time for alarm limit of the batteries life time left.
The online consequence analysis calculates how long the batteries will last with
the current load and give an alarm when the time left is below the limit set here.
32 407295/A
Dialog boxes
DP Capability and Motion Prediction Settings

dialog box
Use this dialog box to set the required conditions for the DP Capability and Motion
Prediction Analysis functions.
How to open
Click Settings→(General) DP capability analysis.
This dialog box has several pages. The buttons at the bottom are common for all pages.
Example
Details
Simulation possible
This box shows whether the DP Capability and Motion Prediction Analysis
functions are available (green) or not available (yellow).
The system must settle in Auto Position mode (with status Mode: PRESENT shown
in the Position deviation and Heading panes on the dashboard) for at least 2.5
minutes before calculations can be performed.
Note
When the function is available, analyses are performed cyclically (usually every
five minutes). You can also start a new analysis at any time by clicking OK or
Apply in the DP Capability and Motion Prediction Settings dialog box.
Related topics
DP Capability and Motion Prediction Settings dialog box - Main page, page 34
DP Capability and Motion Prediction Settings dialog box - Run Control page, page 37
DP Capability and Motion Prediction Settings dialog box - Thrusters page, page 39
DP Capability and Motion Prediction Settings dialog box - Power page, page 41
DP Capability and Motion Prediction Settings dialog box - Waves page, page 43
407295/A 33
DP Capability and Motion Prediction Settings dialog box -

Main page
How to open
Example
Description
On this page the present environmental conditions are specified.
The wave and current properties are calculated automatically from the measured wind
speed and direction and DP states to ensure that the correct present conditions are used.
This is the recommended procedure. However, you can also enter the present wave, wind
and current properties manually.
To manually specify the present environmental conditions, select the Main tab and
deselect the check box for Automatic calculation of wave and current properties. All
environmental directions entered must be given relative to north.
Note
The Main page must only contain data valid for the currently-prevailing environmental
conditions. All data entered on this page is of vital importance for the result of the
analysis, and you should therefore provide data with the highest possible degree of
accuracy.
34 407295/A
Dialog boxes
Details
Automatic calculation of wave and current properties
It is recommended to use the automatically calculated values for waves and

current. When you select the check box these values are automatically entered in
the text boxes and their background is changed to grey.
Waves
Height
The present significant wave height. If manual input is allowed, the

background is white and the value displayed to the left of the text box is the
value that is suggested by the system based on the measured wind speed.
Period
The present wave zero up-crossing period. If manual input is allowed, the
background is white and the value displayed to the left of the text box is the
value that is suggested by the system based on the measured wind speed.
Dir. (TRUE)
The present true wave direction.

Average wind
These values are for information only and cannot be changed.

Speed
The present average measured wind speed.
Dir. (TRUE)
The present average measured wind direction, corrected for vessel heading to
give a TRUE direction.
Sea current
Speed
The present sea-current speed. If manual input is allowed, the background

is white and the value displayed to the left of the text box is the value that
is suggested by the system.
Dir. (TRUE)
The present true sea-current direction.
407295/A 35
Note
You must enter values for the sea-current speed and direction that are as
accurate as possible. You should generally NOT use current values that
are displayed by the system on the Posplot view, as these displayed values
represent the combination of all unknown forces.
It is better to set the sea-current to zero than to uncritically enter "DP"
current and/or large values for sea-current speed. An excessive sea-current
speed can lead to poor or corrupted analysis results.
Average heading
The present average vessel heading. For information only.
36 407295/A
Dialog boxes

Run Control page
How to open
Example
Details
Select failures
Present systems running
Select to include an analysis simulation using the present configuration

regarding thrusters, generators and switchboard settings.
Thruster failure
Select to include an analysis simulating a failure in selected thrusters. You

must configure the actual thruster failures on the Thrusters page.
Switchboard failure
Select to include an analysis simulating a failure in a selected switchboard.

You must configure the actual switchboard failures on the Power page.
Generator failure
Select to include an analysis simulating a failure in selected generators. You

must configure the actual generator failures on the Power page.
407295/A 37
Worst single failure
If DP class 2 or higher has been selected on the DP Class dialog box, an

analysis is included simulating the worst single failure. You cannot deselect
the simulation. If no DP class is selected, the check box is not available.
Environmental variation
The DP Capability Analysis can be performed by varying wind speed and wave
height, wind speed only or sea-current amplitude, in order to find the limiting
state for each variable. For all three options the direction of the environmental
components is fixed, while the heading of the vessel is rotated in operator-defined
steps (the Heading increment).
Wind speed and wave height
Vary the amplitude of wind speed and of wave height while holding the
sea-current constant in amplitude. This results in a limiting wind speed
capability envelope for each failure situation.
Wind speed
Vary the amplitude of the wind speed while holding the waves and
sea-current constant in amplitude. This results in a limiting wind speed
Current speed
Vary the amplitude of the sea-current speed while holding the wind and
waves constant in amplitude. This results in a limiting current speed
Heading increment
Limiting conditions are calculated for a discrete number of headings determined

by the heading increment.
Motion Prediction
Used to specify the specific settings for the Motion Prediction Analysis function.
38 407295/A
Dialog boxes

Thrusters page
How to open
Example
Details
Thrusters
Thruster name
Thruster name and corresponding maximum power. Select one or more of

these boxes to specify that the corresponding thrusters are to be considered
as inactive during an analysis which includes thruster failure.
Force FB (%)
Mean and standard deviation (STD) force feedback from each thruster. You
can use this information to determine the most heavily-loaded thruster units
and thereby which thrusters are the most critical for the DP operation.
Status
Indicates whether the corresponding thruster is presently enabled (green)

or not enabled (blue) for use by the K-Pos system. Thrusters which are
not presently enabled are automatically set as inactive (and also appear
dimmed) for thruster failure simulations. Their active/inactive status cannot
be changed.
407295/A 39
Rudders
Select one or more of these boxes to specify that the corresponding rudders are to
be considered inactive during an analysis which includes thruster failure. Rudders
which are not presently enabled are automatically set as inactive (and also appear
dimmed) for thruster failure simulations. Their active/inactive status cannot be
changed.
40 407295/A
Dialog boxes

Power page
How to open
Example
Details
Generators
Generator name
Generator name and corresponding maximum power. Select one or more of

these boxes to specify that the corresponding generators are to be considered
inactive during an analysis which includes generator failure.
Power FB
Mean and standard deviation (STD) power consumption from each generator.
You can use this information to determine the most heavily-loaded generators
and thereby which generators are the most critical for the DP operation.
Status
Indicates whether the corresponding generator is presently active and

connected (green) or is either not active or disconnected (blue). Generators
which are not presently active and connected, are automatically set as
inactive (and also appear dimmed) for generator failure simulations. Their
active/inactive status cannot be changed.
407295/A 41
Swbd
Select one or more of these boxes to specify that the corresponding switchboard
is to be considered to have failed during an analysis which includes switchboard
failure.
42 407295/A
Dialog boxes

Waves page
How to open
Example
Details
Type
The wave spectrum to be used for calculating wave drift loads.

Pierson-Moskowitz
A wave spectrum typical for the North Atlantic.
JONSWAP
A wave spectrum typical for North Sea conditions.
Doubly-Peaked
A wave spectrum typical for North Sea conditions (also known as

Thorsethaugen '94).
Peak parameter
This is the peak enhancement factor, used to increase the peak of a JONSWAP
wave spectrum. Only applicable if the JONSWAP wave spectrum is selected.
407295/A 43
Vessel Position dialog box

Use this dialog box to specify offsets to the vessel position setpoint, to be used as the
start position of the drift-off simulations. This start position is offset relative to the centre
of the Motion prediction view.
How to open
In the DP Capability and Motion Prediction Settings dialog box, open the Run Control tab
and then click Vessel pos.
Example
Details
Distance
The distance that the start position is to be offset from the present vessel position.
Direction
The direction that the start position is to be offset from the present vessel position,
relative to true north.
44 407295/A
Dialog boxes
Watch Circle dialog box

Use this dialog box to specify circular watch area boundaries for display on the Motion
prediction view.
How to open
In the DP Capability and Motion Prediction Settings dialog box, open the Run Control tab
and then click Watch circ.
Example
Details
Radius
The radius for each of the watch circles.

Offset
The distance and direction that the centre of the watch circles is to be offset from
the vessel position setpoint.
407295/A 45
Display views
Topics
Capability plot view, page 47
The Capability plot view shows the results of the latest analysis performed by the DP Capability
Analysis function.
Motion prediction view, page 57
The Motion prediction view shows the results of the latest analysis performed by the Motion
Prediction Analysis function.
46 407295/A
Display views
Capability plot view

The Capability plot view shows the results of the latest analysis performed by the DP
Capability Analysis function.
Using the Capability plot view control dialog box, you can select between the following
presentations:
• Capability envelopes showing the limiting wind/current speed for various selected
failures.
• Capability envelopes showing the force requirement for the most loaded thruster in
percent in the PRESENT environmental conditions.
How to open
407295/A 47
Limiting wind speed presentation

Example
Note
All numerical bearing/heading information on this view is shown relative to true north.
The plot orientation can be selected to be either True (north up) or Relative (heading up).
48 407295/A
Display views
Details
Indicating that limiting wind speed presentation has been

selected for display. When limiting current speed is selected, the
text changes to Limiting current speed. The date and time that
the DP Capability Analysis was performed.
The Environmental variation option that was used for this

analysis.
The present wind speed and direction relative to true north. This
information is dynamically updated to always show the present
conditions.
Wind symbol showing the present wind direction relative to true

north. Dynamically updated.
The significant wave height and direction relative to true north

at time of analysis (as specified by the operator).
Wave symbol showing the wave direction relative to true north

at time of analysis.
The sea-current speed and direction relative to true north at time

of analysis (as specified by the operator).
Sea-current symbol showing the sea-current direction relative to

true north at time of analysis.
The true average vessel heading at time of analysis.
Electronic Bearing Line (EBL).
407295/A 49
Limiting wind/current speed plot showing capability envelopes

for each of the analyzed failure conditions, indicating the
limiting wind (or sea-current) speeds for any vessel heading
based on the present environmental conditions.
The display scale shows either increasing wind speed (for
analyses with varying wind speed) or increasing sea-current
speed (for analyses with varying sea-current speed), with zero at
the centre of the display. You can adjust the display range using
either the range buttons placed in the upper right corner of the
view, or the Capability plot view control dialog box.
Danger area shown as a dashed capability envelope together

with the capability envelope for the failure condition for which
you have selected to show the danger area. The danger area is
shown in the same colour as the envelope for the selected failure
condition, and indicates the dangerous wind (or sea-current)
speeds for any vessel heading, i.e. the speeds at which the
operational margin status indicators change their colour to
yellow.
Note that you can only show the danger area for one failure
condition at a time.
Wind or sea-current speed circle.

For an analysis with the Environmental variation set to either
Wind speed and wave height or Wind speed, the radius of the
circle shows the present wind speed (dynamically updated).
For an analysis with the Environmental variation set to Current
speed, the radius of the circle shows the specified sea-current
speed at the time of the analysis.
The intersection point of the present heading indicator arrow and
the wind/sea-current speed circle is shown as a small shaded
circle. It is important to focus on this intersection point because
it is the position of this point relative to the capability envelopes
that shows you the operational margins for the various failure
situations for the present heading.
50 407295/A
Display views

The N symbol indicates the direction of true north.
• When N UP (North Up) is selected in the View area of the side
bar, the Capability plot view is shown in a fixed orientation
(north up), and the heading of the vessel symbol is shown
relative to this.
• When H REL (Heading RELative) is selected in the View area
of the side bar, the Capability plot view is shown relative to
the vessel heading and the N symbol is tilted accordingly.
Example with heading-relative orientation selected:
Indicator shown when the DP Capability Analysis function is

computing new capability envelopes for the selected failures.
The indicator is not shown when the simulations are performed
for the first time after a power-off.
Numerical values showing the present vessel heading and the

EBL direction relative to true north.
Numerical values showing the limiting wind (or sea-current) speeds at the intersections
of the vessel heading arrow and the EBL direction with each of the capability envelopes.
407295/A 51
The names of the failure conditions are colour-coded to match the corresponding
envelopes in the Capability plot.
The circular indicators (operational margin status indicators) to the right of each of the
numerical values, show how the present wind speed (or the sea-current speed at the time
of the analysis) compares with each limiting wind (or current) speed (i.e. the wind or
sea-current speed circle):
green: Safe.
yellow: Danger (past "yellow" danger limit, i.e. the dashed capability envelope
representing the danger area). Possible occurrence of insufficient thrust or demand
reduction on switchboards and corresponding poor positioning performance.
red: Drift-off is likely to occur (past unseen "red" danger limit).
Note
The solid envelope represents the wind speed limit obtained by increasing the static
environmental forces and not taking into account any dynamic allowance. The
importance of the dynamic effects is shown by the operational margin status indicators
changing colours and by displaying the danger area.
52 407295/A
Display views
Most loaded thruster presentation

Example
Note
All numerical bearing/heading information on this view is shown relative to true north.
The plot orientation can be selected to be either True (north up) or Relative (heading up).
Many of the information types (numerical) and buttons/indicators shown on the Most
loaded thruster presentation are the same as for the Limiting wind/current presentation.
To avoid repetition, information already described for the Limiting wind/current
presentation is omitted here.
407295/A 53
Details
Indicating that most loaded thruster presentation has been

selected for display.
Plot scale showing average force requirement in percent.
Most loaded thruster plot showing capability envelopes for each

of the analyzed failure conditions indicating the average force
requirement (in percent) for the most loaded thruster for any
vessel heading in the present environmental conditions.
Most loaded thruster limit circle indicating the force requirement

limit (in percent) for the most loaded thruster. You can set this
limit value using the Capability plot view control dialog box.
The display scale shows increasing force requirement in percent,
with zero at the centre of the display.
The plot is limited to only display the force requirement of the
most loaded thruster. This provides you with the possibility to
obtain an overview of the expected mean load level of the most
loaded thrusters for any vessel heading under the prevailing
environmental conditions. The most loaded thruster may be a
different one for every vessel heading. The specific thruster
which is most heavily loaded for each heading is not identified.
The intersection point of the vessel heading arrow and the most
loaded thruster limit circle is shown as a small shaded circle. It
is important to focus on this intersection point because it is the
position of this point relative to the capability envelopes that
shows you the operating margins in the various failure situations.
The most loaded thruster force requirement limit circle is
specified in the Capability plot view control dialog box.
54 407295/A
Display views
Numerical values showing the force requirement for the most loaded thruster at the
intersections of the vessel heading arrow and the EBL with each of the capability
envelopes. The names of the failure conditions are colour-coded to match the
corresponding capability envelopes in the most loaded thruster plot.
Operational margin status-indicators are shown to the right of each of the numerical
values. These circular indicators show how the present force requirement for the most
loaded thruster compares with the force requirement limit (the most loaded thruster
limit circle).
These indicators can have the following colours:
green: The force requirement is < 80 % of the force requirement limit.
yellow: The force requirement is between 80 % and 95 % of the force requirement
limit.
red: The force requirement is > 95 % of the force requirement limit.
The most loaded thruster force requirement limit circle is specified in the Capability Plot
view control dialog box.
The electronic bearing line

For each of the failure conditions analyzed, you can use the electronic bearing line
(EBL) to examine:
• the limiting wind (or sea-current) speeds at any heading
• the force requirement for the most loaded thruster at any heading
To move the EBL:
1 Click on the EBL symbol.
2 Move the trackball.
• The EBL moves around the compass rose.
• The numerical display shows the intersection values.
3 Click on the EBL symbol again to fix its position.
To find the limiting conditions at a given vessel heading, you can move the EBL until the
EBL HDG value shows the required heading.
407295/A 55
Capability plot view control

How to open
Example
Details
Range
The range of the capability display. Either enter the required range or click the up
or down arrows to adjust the range in increments.
Show
Allows you to select the failures for which you wish to graphically display the DP
capability results. Several failures can be shown simultaneously. When only one
failure is shown, you can also display the Danger area.
Presentation
Allows you to select between Limiting wind/current speed presentation and Most
loaded thruster presentation on the Capability plot view. With Most loaded thruster
presentation selected, you must also set the force requirement Limit (in percent) for
the most loaded thruster. This limit value is shown as a circle on the plot.
56 407295/A
Display views
Motion prediction view

The Motion prediction view shows the results of the latest analysis performed by the
Motion Prediction Analysis function.
How to open
Example
407295/A 57
Details
The date and time that the Motion Prediction Analysis was
performed.
The average wind speed and true direction at the time of the
analysis.
Wind symbol showing the present true wind direction at the time
of the analysis.
The significant wave height and true direction at the time of the
analysis (as specified by the operator).
Wave symbol showing the true wave direction at the time of

the analysis.
The sea-current speed and true direction at the time of the

analysis (as specified by the operator).
Sea-current symbol showing the true sea-current direction at

the time of the analysis.
The true average vessel heading at the time of the analysis.
A graphical display showing the results of the latest drift-off

analysis performed by the Motion Prediction Analysis function,
based on the type of failures you have selected to be simulated.
Trace marks of the vessel showing its drift-off motion with time
tags on the line of motion. The line of motion is colour-coded to
ease identification of type of failure. The default time intervals
for display of the vessel's trace marks are 30 seconds. The time
intervals can be changed in the Motion Prediction view control
dialog box.
The three watch circles (green, yellow and red) that you have
specified on the Watch Circle dialog box.
Blue circle indicating the Variable Watch Circle (VWC).
58 407295/A
Display views
You can adjust the display range either using the display range
buttons or the Range page on the Motion Prediction view control
dialog box.
This displays range value and decrease/increase buttons. The

Range value is the distance from the centre to the edge of the
plot. The button decreases the displayed range. The
button increases the displayed range.
The N symbol indicates the direction of true north.
• When N UP (North Up) is selected in the View area of the
side bar, the Motion prediction view is displayed in a fixed
orientation (north up), and the heading of the vessel symbol
is shown relative to this.
• When H REL (Heading RELative) is selected in the View
area of the side bar, the Motion prediction view is displayed
relative to the vessel heading and the N symbol is tilted
accordingly.
The Variable Watch Circle (VWC) symbol. Click this symbol

to display or hide the VWC.
The VWC allows you to examine the time traces more closely
to see how long it takes to reach any distance from the starting
point and also the vessel's heading at this point.
When active, the VWC is displayed in blue. You can change the
range of the VWC using the trackball and cursor.
The numerical values for time and heading at VWC for the
selected failures are dynamically updated and shown in the
lower right corner of the view.
Indicator displayed when the Motion Prediction Analysis

function is computing new drift-off values for the selected
failures.
This displays the time available for the operator to initiate the
emergency disconnect sequence. This field is cleared if no data
is available or if the age of information exceeds a time-out limit.
Colour and distance for each of the watch circles defined by

the operator.
407295/A 59
Numerical values for the various types of failures selected on the DP Capability and
Motion Prediction Settings dialog box Run Control page. These numerical values show
the time in minutes and seconds taken to reach each of the watch circles and also the
VWC. The vessel's true heading at the VWC is also shown. When the Motion Prediction
Analysis function does not indicate any drift for a specific failure (i.e. the vessel
maintains its position), the text NO DRIFT is displayed.
When the vessel's start position is outside a watch area, the time to reach the
corresponding watch circle has no relevance, and is indicated with the symbols “- - -”.
These symbols are also shown when the vessel does not reach the watch circles within
the maximum length of a simulation (normally ten minutes).
Motion Prediction view control

How to open
Motion Prediction view control - Show page
Example
60 407295/A
Display views
Details
Show/hide
Allows you to select the failures for which you wish to graphically display the
motion prediction results. Several failures can be displayed simultaneously.
Trace marks
Vessel
Allows you to display or hide the vessel's trace marks.

Tag
Allows you to display or hide the time tags on the vessel's predicted line of
motion.
Interval
The time intervals for display of the vessel's trace marks and the time tags on
the predicted line of motion. Click the down arrow to select time interval.
Motion Prediction view control - Grid page
Example
Details
Show
Spacing
list.
407295/A 61

range.
Square/Circular
The type of grid.
Motion Prediction view control - Range page
Example
Details
Enter
new range setting.
Increase Range
Decrease Range
62 407295/A
K-Pos Follow Target Mode
Operator Manual
Release 8.3
407282/C
May 2017 © Kongsberg Maritime AS
Document history
Document number: 407282 / Revision C

Rev. A July 2016 This version describes operation of the Follow Target mode of the
K-Pos system at K-Pos basis software release 8.3.0.
Rev. B September 2016 This version describes operation of the Follow Target mode of the
Updated reaction radius to 100 m.
Rev. C May 2017 This version describes operation of the Follow Target mode of the
The reader
Note
Warning
Comments
2 407282/C
Operator Manual
Table of contents
SYSTEM OVERVIEW ................................................................. 5

Follow Target mode description ........................................................................................5
CONTROLLING THE VESSEL ..................................................... 6
Defining mobile transponders ............................................................................................6
Preparing for single transponder operation........................................................................6
Following a single transponder..........................................................................................8
Preparing for multiple transponders operation ..................................................................9
Following multiple transponders .....................................................................................10
DIALOG BOXES ...................................................................... 11
Alarm limits dialog box - Target page ............................................................................. 11
Follow Target dialog box .................................................................................................12
Operation page .......................................................................................................12
Selection page.........................................................................................................16
Offset page..............................................................................................................18
Calibration page .....................................................................................................21
Target page .............................................................................................................23
Heading page ..........................................................................................................25
DISPLAYED INFORMATION.................................................... 27
Posplot view in Follow Target mode ...............................................................................27
Reference system main view ...........................................................................................29
Follow target pane............................................................................................................30
Target pane.......................................................................................................................31
Target position trend pane................................................................................................31
Target speed pane.............................................................................................................32
407282/C 3
4 407282/C
Operator Manual
System overview
Follow Target mode description
The Follow Target mode enables the vessel to automatically follow a moving target.
A K-Pos system with Follow Target mode may have one of the following configurations:
• Follow target position using a single mobile transponder
• Follow target position using multiple transponders
• Follow target position and heading using multiple transponders
In addition the following options are available:
• Auto position fallback
• Target legal sector monitoring
Follow single mobile transponder

This mode enables the vessel to automatically follow a moving target and keeps the vessel
within a “position window” relative to the target. The moving target must be equipped
with a mobile reference transponder or laser reflector to let the K-Pos system monitor its
relative position. For example, if the moving target is a Remotely Operated Vehicle, then
the vessel must be equipped with a Hydroacoustic Position Reference (HPR) system.
In addition to a mobile reference transponder on the target, an additional fixed
position-reference system is required, such as DGPS or a fixed transponder deployed
on the seabed.
You can define a circle of operation with a radius (called reaction radius) of up to 100 m.
The closer the target gets to the limits of the reaction radius, the quicker the vessel
will respond to the movement.
Follow multiple mobile transponder

This mode enables a DP vessel to follow a moving target or vessel equipped with two
or more transponders (such as laser reflectors). The moving target can be followed
both with respect to position and heading.
The operator can select between the following operational modes:
• Follow Position, makes the vessel follow the moving target with respect to position.
The vessel will always have the same position relative to the moving target, while
maintaining a fixed heading.
• Follow Heading, makes the vessel follow the moving target with respect to heading.
The vessel will always have the same heading relative to the moving target, while
maintaining a fixed position.
• Follow Position and Heading, makes the vessel follow the moving target with respect
to both position and heading. The vessel will always have the same position and
heading relative to the moving target.
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Defining mobile transponders

Procedure
1 Enable a fixed position-reference system as the reference origin.
2 Click Sensors→(Reference systems) Settings to open the Reference system settings
dialog box.
3 Select the required reference system and the transponder to be tracked and then
select the Mobile check box.
4 Click Ok or Apply.
Preparing for single transponder operation

Prerequisites
The mobile transponder must be selected on the respective position-reference system
before it is defined as ‘mobile’ for use by the DP system.
Procedure
1 Click Settings→(Modes) Follow target to open the Follow target dialog box.
2 In the Selection tab select the transponder to follow, make sure it is defined as
mobile. It is possible to select only one transponder. The selected transponder is
identified with a triangle on the Posplot view.
3 In the Operation tab select the Enabled (Position) check box.
This enables the mode for following the moving target with respect to position.
4 Define the reaction limits and the position filter value.
5 If applicable, select the Enable fallback check box to ensure the vessel keeps the
present position in case of global positioning system dropout.
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Operator Manual
6 Click Apply to activate the values entered in the dialog box.
Related topics
Follow Target dialog box, page 12
Posplot view in Follow Target mode, page 27
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Following a single transponder

Prerequisites
At least one global reference system must be enabled and accepted.
The mobile transponder must be selected on the respective position-reference system
Procedure
• Press the FOLLOW TARGET button twice.
The reaction radius is shown on the Posplot view as a circle around the vessel’s
alternative rotation point.
During Follow Target mode you can use many of the basic DP functions as described
in the standard K-Pos Operator manual:
• Heading control
• Position control
• Speed control
• Acceleration
• Rate of turn
Related topics
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Operator Manual
Preparing for multiple transponders operation

Prerequisites
The mobile transponders must be selected on the respective position-reference system
Procedure
1 Click Settings→(Modes) Follow target to open the Follow target dialog box.
2 In the Selection tab select the transponders to follow, make sure they are defined as
mobile. The first selected transponder is the origin transponder and identified with a
triangle on the Posplot view.
3 In the Operation tab select the Enabled check box for position and/or heading.
This enables the mode for following the moving target with respect to position
and/or heading.
4 Define the reaction limits and the position filter value.
5 If configured, select the Enable fallback check box to ensure the vessel keeps the
present position in case of global positioning system dropout.
6 If configured, define the limits and the direction of the legal sector and select the
Enable check box to activate the sector monitoring.
7 Click Apply to activate the values entered in the dialog box.
Related topics
Follow Target dialog box, page 12
407282/C 9
Following multiple transponders

Prerequisites
At least one global reference system must be enabled and accepted.
The mobile transponders must be selected on the respective position-reference system
Procedure
• Press the FOLLOW TARGET button twice.
The reaction radius is shown on the Posplot view as a circle around the vessel’s
alternative rotation point.
During Follow Target mode you can use many of the basic DP functions as described
in the standard K-Pos Operator manual:
• Heading control
• Position control
• Speed control
• Acceleration
• Rate of turn
Related topics
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Operator Manual
Dialog boxes
Alarm limits dialog box - Target page

Use this dialog box to set the upper and lower warning and alarm limits for the speed
and position of the moving target.
How to open
Click Alarms→Target.
Example
Details
Warning/Alarm
Active
407282/C 11
Follow Target dialog box

The content of the Follow Target dialog box depends on whether the Follow Target mode
is configured for single or multiple mobile transponders.
Related topics
Follow target dialog box - Operation page, page 12
Follow target dialog box - Selection page, page 16
Follow target dialog box - Offset page, page 18
Follow target dialog box - Calibration page, page 21
Follow target dialog box - Target page, page 23
Follow target dialog box - Heading page, page 25
Follow target dialog box - Operation page

Use this page to select the settings for operation in Follow Target mode. The content of
the Follow Target dialog box depends on whether the Follow Target mode is configured
for single or multiple mobile transponders.
How to open
Click Settings→(Modes) Follow target.
Example
For systems with configuration following single mobile transponder:
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Operator Manual
For systems with configuration following multiple mobile transponders:
Details
Operation mode
For single mobile transponders you can only select to follow the transponder with
respect to position. For multiple mobile transponders you can select to follow the
transponders with respect to position, heading or both.
Position
Select this to make the vessel follow the moving target with respect to
position. The vessel will always have the same position relative to the
moving target, while maintaining the same absolute heading (setpoint) as
shown in the following illustration. At least one transponder must be selected
for this option to be available.
407282/C 13
Heading
Select this to make the vessel follow the moving target with respect to
heading. The vessel will always have the same heading relative to the
moving target, while maintaining the same absolute position as shown in the
following illustration.
Following both position and heading
Selecting both check boxes make the vessel follow the moving target with
respect to both position and heading. The vessel will always have the same
position and heading relative to the moving target as shown in the following
illustration. At least two transponders must be selected for this option to
be available.
Reaction limits
Position
Defines the reaction limit for Position (reaction circle). The value
entered (between 0 and 100 m) is the radius of the reaction circle for
the mobile target.
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Operator Manual
Heading
Defines the vessel's reaction sector for the heading relative to the
moving target.
Transponder position filter
The Filter constant determines the level of position filtering. A high percentage (50
to 100 %) gives a high filtering which is recommended if there is noise or unstable
measurements from the target. A low percentage (0 to 50 %) gives a low filtering
which should be used if measurements from the target are stable and reliable.
Auto position fallback
Enables the vessel to keep the position in case all global positioning systems drop
out. In that case all mobile transponders will be deselected as mobile, the global
reference systems will be deselected and the system will enter Auto position mode.
Target legal sector monitoring
If there are obstacles on the target limiting the movement of the gangway or other
equipment, you can monitor the limits for the legal sector.
Enable
Select the enable check box to activate the target legal sector function.
Alarm limit
When vessel rotation point is outside the alarm limit, an audible alarm and
alarm message will be given.
Warning limit
When vessel rotation point is outside the warning limit, a warning message
will be given.
Sector direction
Define on which side of the target the gangway, hose or other equipment
shall be connected.
407282/C 15
Follow target dialog box - Selection page

Use this dialog box to enable/disable the transponders available for Follow Target mode.
The content of the Follow Target dialog box depends on whether the Follow Target mode
is configured for single or multiple mobile transponders.
How to open
Example
For systems with configuration following single mobile transponder:
For systems with configuration following multiple mobile transponders:
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Operator Manual
Details
Candidates
The position reference system names for all the transponder.

Tp ID
The transponder ID for the given transponder. When there is only one transponder
for a given system, for example Artemis and Gangway, this field is blank.
Mobile
The transponder must be defined as mobile in order to be used in Follow Target
mode.
Select
You can select which transponder will be used in Follow Target mode.
Enable
Information check box only – shows if the transponder is enabled as reference

system.
Accepted
Information check box only – shows if it is accepted to be used in Follow Target

mode.
407282/C 17
Follow target dialog box - Offset page

Use this dialog box to define the origin transponder and to enter the offset of the other
transponders relative to the origin.
How to open
Example
Details
Transponder origin
Note
These options cannot be changed after Follow Target mode is entered.
First transponder
The first selected transponder is the origin by default. You can select a new
transponder or a transponder with offset to be used as an origin
Use transponder
Select the transponder (with selected System and Tp ID) to be used as origin
transponder. If the selected transponder is not available, an error message
will be given.
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Operator Manual
Use offset
The defined offset values in Transponder offset from origin will be used to
define the origin location on the target. Any selected transponders not listed
will be calibrated to the origin location.
Transponder offset from origin
System
The generic name LASER is used instead of the specific laser based position
reference system. The reason for this is that the laser reflector on the target
have no specific ID that can be picked up by the system. The reflectors
have to be identified by the relative location on the target and assigned to a
given Tp ID.
Tp ID
The transponder ID for the given transponder. When there is only one
transponder for a given system, for example Artemis and Gangway, this
field is blank.
Used offset
The offset of each transponder from target origin defined with target
coordinates. This offset can be operator defined, if you know the transponders
location on the target or copied from calibrated transponder location when
you click the Use button.
Calibrated correction
This is the result from calibration of each transponder to the target origin.
If the transponder origin is set to “First transponder”, the target origin will
be the first selected transponder. Each transponder will then be calibrated
to this first transponder. The calibration process will establish the grid with
offsets between the transponders located on the target. The offsets are in
target coordinates as Forward (+) and STBD (+) from the origin location
on the target.
The Use button will copy the Calibrated correction values to the Used offset
values.
The Delete button delete the line for this transponder in the list of transponder
offsets.
New line
Adds an empty line in the transponder offsets list. A maximum of 7

transponder can be defined in the offsets list.
Add unknown
Adds the selected and received transponders not already listed in the
transponder offsets list. The number behind the button text Add unknown(3)
indicates how many accepted transponders not in the transponder offsets
list at any given time.
407282/C 19
Note
Only one laser system can be used at a time. For example you cannot
combine CyScan T3, SpotTrack T2 and Fanbeam T1 at the same time.
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Operator Manual
Follow target dialog box - Calibration page

When multiple transponders are used they need to be calibrated to each other, especially
if transponder offsets have been defined. The calibration can be started automatically
or on request.
How to open
Example
Description
Include
Makes the transponder available for operator initiated calibration.

Calibration
The progress bar show the remaining time of the calibration of a transponder. The
time used will depend on the selected Calibration period.
OK
Indicates that the calibration was stable within limits. The transponder can be
used in Follow Target mode.
Error
Indicates that the calibration did not settle within limits. The measurement are
either too noisy or the defined transponder offset does not match the measured
offset.
407282/C 21
Calibration period
Defines how long time the calibration of a transponder measurement will take. The
default calibration period is 10 seconds. If the measurement from the transponder
are noisy and the calibration result in calibration error, increase the calibration
period and click Start calibration to recalibrate the transponder. This period will be
used both for automatic calibration and operator initiated calibration.
Start calibration
Use this button to start a new calibration. To make the button available select the
Include check box for one or more transponders are click Apply.
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Operator Manual
Follow target dialog box - Target page

Use this dialog box to define the target with its name and dimensions. The symbol is
shown on the Posplot view and the name is shown on the Target pane. You can save the
settings for later use, the file is saved with the same name as the name of the target.
How to open
Example
Setup
Define the target you want to see on the Posplot view.
Origin location on target
Define the location of target origin used to draw the target outline in Posplot view.
The position Forward and STBD is the distance from ‘Target Aft Perpendicular’
to the origin location. For example, if the target’s length is 200 m with a beam of
40 m and the target’s origin is located midships on the starboard side, the origin
location will be 100 m forward and 20 m STBD.
Note
This number is not used in controlling the Follow Target function but only for
display of target symbol. If display of target symbol is not used (NONE selected
on the Target page of the dialog box), this number can be set to Forward=0.0
STBD=0.0.
407282/C 23
File
You can save the data for this target or open a target saved earlier. If offsets have
been defined, they will also be saved to the file.
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Operator Manual
Follow target dialog box - Heading page

Use this dialog box to select which sensors should be used for heading measurements
and to add correction to the measurements if necessary
How to open
Example
Details
Target heading
The heading is the estimated target true heading based on the transponder position
measurements.
When the transponders location on the target is not known, and the true north
target heading cannot be calculated, the target heading is set to 000 degrees when
the first two transponder are calibrated. If you know the target true heading from
other sources, this fictitious target heading can then be corrected by input Added
correction.
When GPSRel-1 heading sensor is enabled, the measurement of target heading
from gyro mounted onboard the target can be used as a sensor for target estimated
407282/C 25
heading. All sensors which are enabled and in use will contribute to the estimated
target heading.
If there is a misalignment between the transponders derived target heading and the
information from the target gyro via the GPSRel-1 interface, the Added correction
can be used to cancel out this misalignment.
Manual target heading
If no other target heading sensors are enabled you can enter values manually to
define required heading.
Used target heading
Information boxes only – the target estimated heading from the enabled target
heading sensors.
Input from more than one sensor can contribute to the estimated target heading. In
addition to the transponders relative heading measurement, GPSRel system can be
used to give information from the target own gyro.
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Operator Manual
Posplot view in Follow Target mode

When the Follow Target mode is active you can follow the movement of the vessel
relative to the target.
In addition to the standard shown information you can choose to show the position of
the target. Which symbols and objects specific for Follow Target mode will be shown
depends on the configuration and the selected settings.
407282/C 27
Details
This is the symbol of t he moving target as defined in the Follow

Target dialog box.
This is the symbol for the origin transponder. The vector is

shown only when follow heading operation mode is selected.
This is the symbol for the reaction radius as defined in the Follow
Target dialog box.
The two small triangles indicate the limits for he heading

reaction sector as defined in the Follow Target dialog box.
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Operator Manual
Reference system main view

The view shows the individual and resulting performance of the position-reference
systems that are currently enabled.
How to open
Right-click in the view to open the view control dialog box and select Target.
Example
For description of the details in this view refer to the standard K-Pos Operator manual.
407282/C 29
Follow target pane

This pane shows information about the settings defined in the Follow target dialog box.
The content of the Follow target pane depends on the selected Operation mode. All
available information is shown when Follow Position and Heading is selected.
Clicking any position on this pane opens the Follow target dialog box.
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Operator Manual
Target pane
This pane shows the global position and the speed of the target relative to the vessel’s
rotation point.
Clicking this area opens the Follow target dialog box.
Target position trend pane

This pane shows a trend plot of the global position of the target. The target symbol is
always in the centre and the latest movement is shown as a trace.
Clicking this area opens the Trends view showing the trend plots for the target position
relative to the north and east.
You can adjust the time span and the range of the plot using the view-control dialog box.
407282/C 31
Target speed pane

This pane shows the speed over ground for the target and the vessel. When both the
target and the vessel should move with the same speed, the two symbols should always
be on each other
Clicking this area opens the Trends view showing the trend plots for the target speed
relative to the north and east.
You can adjust the range of the plot using the view-control dialog box.
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33 407282/C

L5441T06 Operator Manual (K-Pos DP-11)

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Document number: 5184447

K-Pos DP Operator Manual Release 8.3 407271/D

Document number: 407271 / Revision D

SYSTEM OVERVIEW ............................................................... 11

Enabling a vertical reference sensor ................................................................................48

CUSTOMIZING PREFERENCES ................................................ 79

Rejected heading measurements .......................................................................... 112

Alongship force control dialog box ...............................................................................152

Panel Light Configuration dialog box............................................................................217

Manual thruster biasing ........................................................................................294

Depth pane .....................................................................................................................391

Forces and motions

The Extended Kalman Filter

The Extended Kalman Filter gives the following advantages:

Offshore trials have verified that K-Pos DP principles give:

High Precision and Relaxed control mode

Green control mode

Automatic switch-over to the Offline PS

Getting to know your

The three outer buttons are used as the buttons on a computer

When the operator station is in command the command group

The icon shows the priority of the alarm:

Shows the tag name of the OS alarm.

The icon is a shortcut to more information about the alarm.

The extension button shows the number of unacknowledged

The colour of the extension button is the colour of the

About dialog boxes

Selecting dialog boxes

About display views

Orientation of the operator station and effect on display

As the cursor changes when it is moved over a

Zooming and panning function

Selecting display views and panes

Selecting display views

View-control dialog boxes

Preparing for operation

Selecting the vessel draught, page 53

Starting the system

2 Check that the OK check box for the gyrocompass is selected.

Enabling a wind sensor

Enabling a vertical reference sensor

2 Check that the OK check box for the VRS is selected.

Enabling the first position-reference system

• An initial calibration of the position-reference system is performed.

Enabling other position reference systems

• The position measurements from the position-reference system are calibrated

Changing the reference origin

Enabling a speed sensor

Enabling and entering a manual speed value

Selecting the vessel draught

Enabling a rate-of-turn sensor

Controlling the vessel

Monitoring the gangway, page 68

Controlling the vessel manually

Controlling the vessel heading automatically

Controlling surge and sway automatically

Stabilising the vessel

Controlling position and heading

Changing the vessel heading

Changing the vessel heading using the heading wheel

Changing the vessel heading using the Posplot view